+ python -m lidar_slam --no-model /working/90974db6-3605-4c98-972d-ab7450a59c8c Lidar SLAM 0.0.15 ===================================================== The recording path: /working/90974db6-3605-4c98-972d-ab7450a59c8c 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 0.028623853 Adjusted end_distance from 9.223372036854776e+18 to 309.218623853 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028623853 meters Centerline goodness : 0.414874 Centerline is valid? [0, False] SLAMing on 0.058623853000000004 meters Centerline goodness : 0.407492 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999987e-01 2.42281071e-05 -1.60327362e-04 2.09038946e-03] [-2.42250701e-05 1.00000000e+00 1.89442370e-05 1.03410167e-04] [ 1.60327821e-04 -1.89403528e-05 9.99999987e-01 -1.77727360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088623853 meters Centerline goodness : 0.370979 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999939e-01 8.21119912e-05 -3.38021490e-04 4.33391902e-03] [-8.21077583e-05 9.99999997e-01 1.25365258e-05 4.11425278e-04] [ 3.38022519e-04 -1.25087709e-05 9.99999943e-01 -3.64098448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11862385300000002 meters Centerline goodness : 0.415731 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999896e-01 8.80211425e-05 -4.48530583e-04 6.00674573e-03] [-8.80532791e-05 9.99999994e-01 -7.16294028e-05 1.27240688e-03] [ 4.48524275e-04 7.16688899e-05 9.99999897e-01 -5.05413168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148623853 meters Centerline goodness : 0.384599 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999885e-01 3.68748306e-04 -3.05751139e-04 9.34763940e-03] [-3.68770035e-04 9.99999929e-01 -7.10146616e-05 1.64013430e-03] [ 3.05724931e-04 7.11274053e-05 9.99999951e-01 -6.43917568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17862385300000003 meters Centerline goodness : 0.080837 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999773e-01 5.17371176e-04 -4.30776762e-04 1.12406251e-02] [-5.17358863e-04 9.99999866e-01 2.86932645e-05 8.16019118e-04] [ 4.30791549e-04 -2.84703918e-05 9.99999907e-01 -8.09969679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20862385300000003 meters Centerline goodness : 0.388027 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999722e-01 7.11711856e-04 -2.24408117e-04 1.39651051e-02] [-7.11701697e-04 9.99999746e-01 4.53457730e-05 3.62611414e-04] [ 2.24440333e-04 -4.51860487e-05 9.99999974e-01 -9.45710362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23862385300000002 meters Centerline goodness : 0.332281 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999688e-01 7.13176018e-04 -3.38611306e-04 1.56436745e-02] [-7.13177225e-04 9.99999746e-01 -3.44123133e-06 1.14530138e-03] [ 3.38608766e-04 3.68272013e-06 9.99999943e-01 -1.07742341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268623853 meters Centerline goodness : 0.364974 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999581e-01 7.86075789e-04 -4.70113319e-04 1.77057472e-02] [-7.86076915e-04 9.99999691e-01 -2.21017320e-06 1.41295492e-03] [ 4.70111437e-04 2.57971750e-06 9.99999889e-01 -1.23760762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.298623853 meters Centerline goodness : 0.512787 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99999340e-01 1.06780165e-03 -4.24434602e-04 2.09226895e-02] [-1.06763042e-03 9.99999349e-01 4.03456532e-04 -1.86068425e-03] [ 4.24865138e-04 -4.03003127e-04 9.99999829e-01 -1.38727699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328623853 meters Centerline goodness : 0.467053 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.02 [[ 9.99999219e-01 1.14345127e-03 -5.05432038e-04 2.28596023e-02] [-1.14317151e-03 9.99999193e-01 5.53444872e-04 -3.06357364e-03] [ 5.06064468e-04 -5.52866644e-04 9.99999719e-01 -1.55544331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.358623853 meters Centerline goodness : 0.350133 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999009e-01 1.22898447e-03 -6.86129006e-04 2.51080949e-02] [-1.22853549e-03 9.99999031e-01 6.54402421e-04 -3.52497447e-03] [ 6.86932592e-04 -6.53558839e-04 9.99999550e-01 -1.73711699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388623853 meters Centerline goodness : 0.558167 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99998747e-01 1.31302442e-03 -8.84401055e-04 2.74451088e-02] [-1.31234180e-03 9.99998841e-01 7.71975882e-04 -4.27762118e-03] [ 8.85413653e-04 -7.70814278e-04 9.99999311e-01 -1.91917384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.418623853 meters Centerline goodness : 0.530210 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99998364e-01 1.61803962e-03 -8.08943730e-04 3.07989402e-02] [-1.61716351e-03 9.99998106e-01 1.08251812e-03 -6.79971910e-03] [ 8.10693756e-04 -1.08120815e-03 9.99999087e-01 -2.08140613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448623853 meters Centerline goodness : 0.535190 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99998143e-01 1.67431060e-03 -9.54771410e-04 3.27154351e-02] [-1.67323372e-03 9.99997964e-01 1.12757436e-03 -6.92021148e-03] [ 9.56657376e-04 -1.12597471e-03 9.99998908e-01 -2.22624907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.478623853 meters Centerline goodness : 0.365706 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99997743e-01 1.95769160e-03 -8.25664777e-04 3.57873689e-02] [-1.95665692e-03 9.99997302e-01 1.25210501e-03 -6.83954616e-03] [ 8.28113784e-04 -1.25048664e-03 9.99998875e-01 -2.32580537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.508623853 meters Centerline goodness : 0.395154 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99997260e-01 2.12162812e-03 -9.89334017e-04 3.79512768e-02] [-2.12025986e-03 9.99996797e-01 1.38201174e-03 -7.70190715e-03] [ 9.92262963e-04 -1.37991031e-03 9.99998556e-01 -2.47526416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.538623853 meters Centerline goodness : 0.362681 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.99999665 0.00230311 -0.00118061 0.04010896] [-0.00230125 0.99999612 0.00157089 -0.00909569] [ 0.00118422 -0.00156817 0.99999807 -0.0264203 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5686238530000001 meters Centerline goodness : 0.342898 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.9999961 0.0024338 -0.00137215 0.04230975] [-0.00243145 0.99999559 0.00170816 -0.00985317] [ 0.0013763 -0.00170481 0.9999976 -0.02809892] [ 0. 0. 0. 1. ]] SLAMing on 0.5986238530000001 meters Centerline goodness : 0.342191 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999537 0.00279448 -0.00120561 0.0456474 ] [-0.0027921 0.99999417 0.00196491 -0.01091369] [ 0.0012111 -0.00196153 0.99999734 -0.02936956] [ 0. 0. 0. 1. ]] SLAMing on 0.6286238530000001 meters Centerline goodness : 0.324996 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999482 0.00291232 -0.00136904 0.04778261] [-0.00290949 0.99999363 0.00206546 -0.01167702] [ 0.00137505 -0.00206146 0.99999693 -0.0310951 ] [ 0. 0. 0. 1. ]] SLAMing on 0.658623853 meters Centerline goodness : 0.063050 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.9999942 0.00302088 -0.00157548 0.05004434] [-0.00301747 0.99999311 0.00216181 -0.01227872] [ 0.001582 -0.00215704 0.99999642 -0.03253695] [ 0. 0. 0. 1. ]] SLAMing on 0.6886238530000001 meters Centerline goodness : 0.310033 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999376 0.00319785 -0.00149815 0.05291354] [-0.00319445 0.99999233 0.0022654 -0.01253254] [ 0.00150538 -0.0022606 0.99999631 -0.03324387] [ 0. 0. 0. 1. ]] SLAMing on 0.7186238530000001 meters Centerline goodness : 0.340122 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.03 [[ 0.99999294 0.003363 -0.00167561 0.05556542] [-0.00335899 0.9999915 0.00238962 -0.01331438] [ 0.00168363 -0.00238398 0.99999574 -0.03495174] [ 0. 0. 0. 1. ]] SLAMing on 0.7486238530000001 meters Centerline goodness : 0.068958 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.99999204 0.00355017 -0.00182298 0.06005223] [-0.00354565 0.99999064 0.00247991 -0.01420566] [ 0.00183177 -0.00247343 0.99999526 -0.03701224] [ 0. 0. 0. 1. ]] SLAMing on 0.7786238530000001 meters Centerline goodness : 0.306496 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.99999136 0.00358588 -0.00210253 0.0629047 ] [-0.00358067 0.99999052 0.00247585 -0.014173 ] [ 0.00211138 -0.0024683 0.99999472 -0.0388313 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8086238530000001 meters Centerline goodness : 0.306496 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.99999136 0.00358588 -0.00210253 0.0629047 ] [-0.00358067 0.99999052 0.00247585 -0.014173 ] [ 0.00211138 -0.0024683 0.99999472 -0.0388313 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8386238530000001 meters Centerline goodness : 0.343958 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.04 [[ 0.99999075 0.00360458 -0.00234614 0.06534193] [-0.00359874 0.99999043 0.00248933 -0.01431028] [ 0.00235509 -0.00248087 0.99999415 -0.04020032] [ 0. 0. 0. 1. ]] SLAMing on 0.8686238530000001 meters Centerline goodness : 0.333642 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 0.9999899 0.00366376 -0.00260268 0.06778365] [-0.00365696 0.9999899 0.0026136 -0.01513551] [ 0.00261223 -0.00260405 0.9999932 -0.04146382] [ 0. 0. 0. 1. ]] SLAMing on 0.8986238530000001 meters Centerline goodness : 0.342149 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 0.99998983 0.003767 -0.00248063 0.07117636] [-0.00375977 0.99998869 0.00291142 -0.01776352] [ 0.00249157 -0.00290207 0.99999269 -0.04253296] [ 0. 0. 0. 1. ]] SLAMing on 0.928623853 meters Centerline goodness : 0.325274 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 0.99998912 0.00376282 -0.00275786 0.07381066] [-0.00375456 0.99998847 0.00299423 -0.01838815] [ 0.0027691 -0.00298384 0.99999171 -0.04385457] [ 0. 0. 0. 1. ]] SLAMing on 0.9586238530000001 meters Centerline goodness : 0.325391 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.05 [[ 0.9999881 0.0037793 -0.00308361 0.07683564] [-0.00376979 0.99998814 0.00308408 -0.01890908] [ 0.00309523 -0.00307242 0.99999049 -0.04548442] [ 0. 0. 0. 1. ]] SLAMing on 0.9886238530000001 meters Centerline goodness : 0.320376 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.05 [[ 0.99998542 0.00345242 -0.00415171 0.08894045] [-0.00343894 0.9999888 0.00325075 -0.02141248] [ 0.00416288 -0.00323642 0.9999861 -0.05272973] [ 0. 0. 0. 1. ]] SLAMing on 1.018623853 meters Centerline goodness : 0.325454 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.05 [[ 0.99998379 0.00354983 -0.00445145 0.09184083] [-0.00353404 0.99998745 0.00355092 -0.02379202] [ 0.004464 -0.00353513 0.99998379 -0.05430124] [ 0. 0. 0. 1. ]] SLAMing on 1.048623853 meters Centerline goodness : 0.332355 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.99998217 0.00362982 -0.00474136 0.09439042] [-0.00361148 0.99998598 0.00387206 -0.02613429] [ 0.00475535 -0.00385487 0.99998126 -0.05548463] [ 0. 0. 0. 1. ]] SLAMing on 1.078623853 meters Centerline goodness : 0.303678 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.06 [[ 0.99997943 0.00307725 -0.00562755 0.10541991] [-0.0030538 0.99998664 0.00417029 -0.02975626] [ 0.00564031 -0.00415302 0.99997547 -0.06146613] [ 0. 0. 0. 1. ]] SLAMing on 1.108623853 meters Centerline goodness : 0.294521 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.06 [[ 0.99997746 0.0031956 -0.00590444 0.10787392] [-0.00316894 0.99998477 0.0045191 -0.03235163] [ 0.00591879 -0.00450029 0.99997236 -0.06257714] [ 0. 0. 0. 1. ]] SLAMing on 1.1386238530000001 meters Centerline goodness : 0.236447 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.06 [[ 0.9999751 0.00331913 -0.00622761 0.11050554] [-0.00328908 0.99998293 0.00482969 -0.0348548 ] [ 0.00624353 -0.00480909 0.99996895 -0.063601 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1686238530000002 meters Centerline goodness : 0.428988 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.06 [[ 0.99997416 0.00359289 -0.00622684 0.11426466] [-0.00356034 0.99997998 0.00523015 -0.03737839] [ 0.0062455 -0.00520785 0.99996694 -0.06471624] [ 0. 0. 0. 1. ]] SLAMing on 1.1986238530000002 meters Centerline goodness : 0.206867 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.07 [[ 0.99997218 0.00373207 -0.00645839 0.1165093 ] [-0.00369711 0.99997849 0.00541717 -0.038599 ] [ 0.00647847 -0.00539314 0.99996447 -0.06565508] [ 0. 0. 0. 1. ]] SLAMing on 1.2286238530000002 meters Centerline goodness : 0.152981 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.07 [[ 0.99997337 0.00170094 -0.00709711 0.12481617] [-0.00168693 0.99999662 0.00197996 -0.03728022] [ 0.00710045 -0.00196794 0.99997286 -0.06960991] [ 0. 0. 0. 1. ]] SLAMing on 1.2586238530000002 meters Centerline goodness : 0.356326 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.09 [[ 0.99999529 0.00191354 0.00240108 0.1310125 ] [-0.00191805 0.9999964 0.00187864 -0.03811873] [-0.00239748 -0.00188324 0.99999535 -0.09443071] [ 0. 0. 0. 1. ]] SLAMing on 1.288623853 meters Centerline goodness : 0.371910 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.10 [[ 0.99999555 0.00203419 0.00218391 0.13290335] [-0.00203844 0.99999603 0.00194354 -0.03827243] [-0.00217995 -0.00194799 0.99999573 -0.09502944] [ 0. 0. 0. 1. ]] SLAMing on 1.318623853 meters Centerline goodness : 0.285217 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.10 [[ 0.99999565 0.00218718 0.00197889 0.13500234] [-0.00219132 0.99999541 0.00209013 -0.03888546] [-0.00197431 -0.00209446 0.99999586 -0.09598783] [ 0. 0. 0. 1. ]] SLAMing on 1.348623853 meters Centerline goodness : 0.233727 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.10 [[ 0.99999566 0.00265349 0.00127729 0.14510133] [-0.0026567 0.99999329 0.00252162 -0.04220504] [-0.00127059 -0.002525 0.999996 -0.10189293] [ 0. 0. 0. 1. ]] SLAMing on 1.3786238530000001 meters Centerline goodness : 0.269800 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.10 [[ 9.99995363e-01 2.88698943e-03 9.69469956e-04 1.48198906e-01] [-2.88971797e-03 9.99991835e-01 2.82496472e-03 -4.45375989e-02] [-9.61306396e-04 -2.82775312e-03 9.99995540e-01 -1.03399424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4086238530000001 meters Centerline goodness : 0.260769 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.10 [[ 9.99994966e-01 3.09625098e-03 6.94085029e-04 1.50880806e-01] [-3.09842002e-03 9.99990251e-01 3.14605055e-03 -4.69095335e-02] [-6.84337300e-04 -3.14818528e-03 9.99994810e-01 -1.04714813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4386238530000002 meters Centerline goodness : 0.277752 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.11 [[ 9.99994594e-01 3.26811997e-03 3.63544864e-04 1.54052388e-01] [-3.26932001e-03 9.99989042e-01 3.35084183e-03 -4.83245612e-02] [-3.52589928e-04 -3.35201225e-03 9.99994320e-01 -1.06340972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4686238530000002 meters Centerline goodness : 0.215528 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.11 [[ 9.99991553e-01 4.04761149e-03 -7.14239086e-04 1.65941639e-01] [-4.04485307e-03 9.99984515e-01 3.82212461e-03 -4.86563710e-02] [ 7.29698502e-04 -3.81920333e-03 9.99992441e-01 -1.13303897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4986238530000002 meters Centerline goodness : 0.074254 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.11 [[ 0.99999109 0.00408726 -0.00105283 0.16909715] [-0.00408333 0.99998479 0.00370636 -0.04713188] [ 0.00106796 -0.00370203 0.99999258 -0.11474527] [ 0. 0. 0. 1. ]] SLAMing on 1.5286238530000003 meters Centerline goodness : 0.060733 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.12 [[ 0.99999027 0.00419366 -0.00136916 0.17210553] [-0.00418865 0.9999846 0.00364049 -0.04598953] [ 0.00138441 -0.00363472 0.99999244 -0.11608313] [ 0. 0. 0. 1. ]] SLAMing on 1.558623853 meters Centerline goodness : 0.131410 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.12 [[ 0.99998816 0.00457179 -0.00166912 0.17746375] [-0.00456577 0.99998312 0.00359271 -0.04454523] [ 0.00168552 -0.00358504 0.99999215 -0.11811266] [ 0. 0. 0. 1. ]] SLAMing on 1.588623853 meters Centerline goodness : 0.231719 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.12 [[ 0.99998759 0.00461072 -0.00188715 0.179585 ] [-0.00460392 0.99998295 0.00359294 -0.04450785] [ 0.00190368 -0.00358421 0.99999176 -0.11884897] [ 0. 0. 0. 1. ]] SLAMing on 1.6186238530000001 meters Centerline goodness : 0.132508 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.12 [[ 0.99998663 0.00469882 -0.00215806 0.18228619] [-0.00469073 0.99998202 0.0037355 -0.04588824] [ 0.00217557 -0.00372533 0.99999069 -0.12004649] [ 0. 0. 0. 1. ]] SLAMing on 1.6486238530000001 meters Centerline goodness : 0.141909 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.12 [[ 9.99993187e-01 2.26294516e-03 -2.91638902e-03 1.89778304e-01] [-2.26233911e-03 9.99997419e-01 2.11091988e-04 -4.25666707e-02] [ 2.91685918e-03 -2.04492689e-04 9.99995725e-01 -1.24333153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6786238530000002 meters Centerline goodness : 0.131969 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.13 [[ 9.99992918e-01 2.18687134e-03 -3.06291260e-03 1.93747044e-01] [-2.18547493e-03 9.99997506e-01 4.59184135e-04 -4.39609675e-02] [ 3.06390914e-03 -4.52486964e-04 9.99995204e-01 -1.25456575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7086238530000002 meters Centerline goodness : 0.139272 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.13 [[ 9.99992148e-01 2.18489425e-03 -3.30596199e-03 1.96048671e-01] [-2.18278061e-03 9.99997411e-01 6.42815530e-04 -4.51268178e-02] [ 3.30735792e-03 -6.35594293e-04 9.99994329e-01 -1.26253387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7386238530000002 meters Centerline goodness : 0.112045 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.13 [[ 9.99991151e-01 2.10456794e-03 -3.64253285e-03 1.98917529e-01] [-2.10148094e-03 9.99997430e-01 8.51106726e-04 -4.72248173e-02] [ 3.64431470e-03 -8.43444481e-04 9.99993004e-01 -1.27134723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7686238530000002 meters Centerline goodness : 0.120170 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:-0.13 [[ 9.99989734e-01 5.98401340e-04 -4.49157376e-03 2.08322183e-01] [-5.94923460e-04 9.99999522e-01 7.75608065e-04 -5.23513470e-02] [ 4.49203574e-03 -7.72927960e-04 9.99989612e-01 -1.31275434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7986238530000003 meters Centerline goodness : 0.166421 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.13 [[ 9.99988406e-01 5.65959024e-04 -4.78192956e-03 2.10901413e-01] [-5.60171416e-04 9.99999109e-01 1.21156061e-03 -5.59933759e-02] [ 4.78261099e-03 -1.20886787e-03 9.99987833e-01 -1.32139803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.828623853 meters Centerline goodness : 0.108236 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.13 [[ 9.99986899e-01 4.28677992e-04 -5.10070066e-03 2.13840530e-01] [-4.21001971e-04 9.99998778e-01 1.50587398e-03 -5.87845859e-02] [ 5.10133996e-03 -1.50370684e-03 9.99985857e-01 -1.32941879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.858623853 meters Centerline goodness : 0.112748 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.06, Z:-0.13 [[ 9.99984712e-01 7.14438418e-05 -5.52913056e-03 2.19003399e-01] [-5.96712169e-05 9.99997731e-01 2.12933569e-03 -6.44220332e-02] [ 5.52927015e-03 -2.12897320e-03 9.99982447e-01 -1.34255360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8886238530000001 meters Centerline goodness : 0.126597 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:-0.13 [[ 9.99983577e-01 1.75197842e-04 -5.72843248e-03 2.21017289e-01] [-1.60950582e-04 9.99996893e-01 2.48747961e-03 -6.71555869e-02] [ 5.72885048e-03 -2.48651676e-03 9.99980499e-01 -1.34871311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9186238530000002 meters Centerline goodness : 0.126965 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.14 [[ 9.99982061e-01 3.15224394e-04 -5.98150941e-03 2.25063962e-01] [-2.97329521e-04 9.99995479e-01 2.99235203e-03 -7.07789092e-02] [ 5.98242562e-03 -2.99051987e-03 9.99977633e-01 -1.35731013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9486238530000002 meters Centerline goodness : 0.128820 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.14 [[ 9.99980602e-01 4.46878115e-04 -6.21252883e-03 2.27321284e-01] [-4.26516535e-04 9.99994535e-01 3.27844143e-03 -7.30960172e-02] [ 6.21395995e-03 -3.27572809e-03 9.99975328e-01 -1.36561793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9786238530000002 meters Centerline goodness : 0.476966 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:-0.14 [[ 9.99978901e-01 6.05170925e-04 -6.46776998e-03 2.29969135e-01] [-5.81319804e-04 9.99993027e-01 3.68893241e-03 -7.64068695e-02] [ 6.46995732e-03 -3.68509473e-03 9.99972279e-01 -1.37719698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008623853 meters Centerline goodness : 0.129108 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.16 [[ 9.99999636e-01 -5.04147913e-04 -6.88543818e-04 2.44441954e-01] [ 5.05443120e-04 9.99998101e-01 1.88220364e-03 -8.09316885e-02] [ 6.87593602e-04 -1.88255097e-03 9.99997992e-01 -1.59629182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0386238530000003 meters Centerline goodness : 0.473116 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.16 [[ 9.99999538e-01 -3.25103926e-04 -9.04856820e-04 2.46548072e-01] [ 3.27223825e-04 9.99997200e-01 2.34363829e-03 -8.43757825e-02] [ 9.04092361e-04 -2.34393330e-03 9.99996844e-01 -1.60322324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068623853 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 2.0986238530000003 meters Centerline goodness : 0.470056 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.17 [[ 9.99997757e-01 -6.27001756e-04 -2.02291786e-03 2.58910128e-01] [ 6.32661468e-04 9.99995884e-01 2.79837049e-03 -8.95578553e-02] [ 2.02115495e-03 -2.79964403e-03 9.99994038e-01 -1.66746859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.128623853 meters Centerline goodness : 0.462659 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.17 [[ 9.99997345e-01 -4.90697089e-04 -2.25148265e-03 2.61250960e-01] [ 4.97775307e-04 9.99994933e-01 3.14432063e-03 -9.20364291e-02] [ 2.24992833e-03 -3.14543301e-03 9.99992522e-01 -1.67761691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1586238530000004 meters Centerline goodness : 0.124837 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.17 [[ 9.99996122e-01 -2.20244261e-04 -2.77606715e-03 2.67046327e-01] [ 2.30650556e-04 9.99992947e-01 3.74881200e-03 -9.62413868e-02] [ 2.77522191e-03 -3.74943776e-03 9.99989120e-01 -1.70019322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.188623853 meters Centerline goodness : 0.123922 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.17 [[ 9.99995528e-01 -1.05817329e-05 -2.99057826e-03 2.69114080e-01] [ 2.27442643e-05 9.99991730e-01 4.06694498e-03 -9.84676741e-02] [ 2.99051049e-03 -4.06699481e-03 9.99987258e-01 -1.70748071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2186238530000004 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 2.2486238530000002 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 2.278623853 meters Centerline goodness : 0.475830 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:-0.18 [[ 0.99999319 0.00109053 -0.00352505 0.28417117] [-0.00107265 0.99998658 0.00506774 -0.10564256] [ 0.00353053 -0.00506392 0.99998095 -0.1771591 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3086238530000003 meters Centerline goodness : 0.119847 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 0.99999215 0.00123624 -0.00376367 0.28637068] [-0.00121642 0.99998541 0.00526392 -0.10692464] [ 0.00377012 -0.0052593 0.99997906 -0.17774965] [ 0. 0. 0. 1. ]] SLAMing on 2.338623853 meters Centerline goodness : 0.173963 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 0.99999071 0.00162061 -0.00399491 0.2901736 ] [-0.00159847 0.99998338 0.00553874 -0.10811714] [ 0.00400382 -0.00553231 0.99997668 -0.17832078] [ 0. 0. 0. 1. ]] SLAMing on 2.3686238530000003 meters Centerline goodness : 0.174420 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 0.99998933 0.00176639 -0.00426822 0.29243935] [-0.00174214 0.99998235 0.0056795 -0.1088228 ] [ 0.00427818 -0.00567201 0.99997476 -0.17884332] [ 0. 0. 0. 1. ]] SLAMing on 2.398623853 meters Centerline goodness : 0.062115 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 0.99998782 0.00192553 -0.00454473 0.29476898] [-0.00189883 0.99998096 0.00587138 -0.11020242] [ 0.00455595 -0.00586268 0.99997244 -0.17950392] [ 0. 0. 0. 1. ]] SLAMing on 2.4286238530000004 meters Centerline goodness : 0.181273 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.11, Z:-0.19 [[ 0.99998211 0.0046268 0.00379109 0.32425396] [-0.00463578 0.99998647 0.00236118 -0.10930719] [-0.00378012 -0.00237872 0.99999003 -0.19168458] [ 0. 0. 0. 1. ]] SLAMing on 2.458623853 meters Centerline goodness : 0.179842 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:-0.19 [[ 0.99998248 0.00477934 0.00349205 0.32678099] [-0.00478768 0.9999857 0.00238431 -0.10918464] [-0.00348061 -0.00240099 0.99999106 -0.192452 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4886238530000004 meters Centerline goodness : 0.186020 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.11, Z:-0.19 [[ 9.99959687e-01 8.96773209e-03 -4.51614932e-04 3.53187716e-01] [-8.96715222e-03 9.99958988e-01 1.27005408e-03 -1.12024115e-01] [ 4.62985915e-04 -1.26595318e-03 9.99999092e-01 -1.91360421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5186238530000002 meters Centerline goodness : 0.085656 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.11, Z:-0.19 [[ 9.99958735e-01 9.05395746e-03 -7.43865168e-04 3.55697983e-01] [-9.05305574e-03 9.99958292e-01 1.20676945e-03 -1.11067540e-01] [ 7.54760182e-04 -1.19998540e-03 9.99998995e-01 -1.92348027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548623853 meters Centerline goodness : 0.192460 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.11, Z:-0.19 [[ 0.99995775 0.00913298 -0.00104459 0.35806782] [-0.00913175 0.99995761 0.0011757 -0.1106015 ] [ 0.00105528 -0.00116612 0.99999876 -0.19301503] [ 0. 0. 0. 1. ]] SLAMing on 2.5786238530000003 meters Centerline goodness : 0.192865 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.11, Z:-0.19 [[ 0.99995676 0.00920487 -0.00131951 0.36036023] [-0.00920331 0.99995694 0.00118666 -0.11068428] [ 0.00133038 -0.00117447 0.99999843 -0.19380656] [ 0. 0. 0. 1. ]] SLAMing on 2.608623853 meters Centerline goodness : 0.118579 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.11, Z:-0.19 [[ 0.99995304 0.00952599 -0.00178134 0.36493453] [-0.00952413 0.99995409 0.0010521 -0.10958541] [ 0.00179128 -0.00103509 0.99999786 -0.19496866] [ 0. 0. 0. 1. ]] SLAMing on 2.6386238530000004 meters Centerline goodness : 0.090372 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.11, Z:-0.20 [[ 9.99951566e-01 9.60803835e-03 -2.13330853e-03 3.67577762e-01] [-9.60624705e-03 9.99953499e-01 8.48348567e-04 -1.07451778e-01] [ 2.14136030e-03 -8.27814389e-04 9.99997365e-01 -1.95558476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.668623853 meters Centerline goodness : 0.059725 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:-0.20 [[ 9.99951100e-01 9.59826503e-03 -2.38117225e-03 3.69374430e-01] [-9.59694235e-03 9.99953788e-01 5.66278464e-04 -1.04973524e-01] [ 2.38649750e-03 -5.43398801e-04 9.99997005e-01 -1.95843075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6986238530000004 meters Centerline goodness : 0.116320 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.20 [[ 9.99944998e-01 1.00126208e-02 -3.12228650e-03 3.75528692e-01] [-1.00115862e-02 9.99949823e-01 3.46799821e-04 -1.02142136e-01] [ 3.12560220e-03 -3.15521705e-04 9.99995066e-01 -1.97561652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728623853 meters Centerline goodness : 0.116320 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.20 [[ 9.99944998e-01 1.00126208e-02 -3.12228650e-03 3.75528692e-01] [-1.00115862e-02 9.99949823e-01 3.46799821e-04 -1.02142136e-01] [ 3.12560220e-03 -3.15521705e-04 9.99995066e-01 -1.97561652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7586238530000005 meters Centerline goodness : 0.092066 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.20 [[ 9.99943863e-01 1.00294611e-02 -3.41781832e-03 3.77922679e-01] [-1.00289839e-02 9.99949696e-01 1.56730954e-04 -1.00525897e-01] [ 3.41921832e-03 -1.22444911e-04 9.99994147e-01 -1.98413072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7886238530000003 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 2.818623853 meters Centerline goodness : 0.117751 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.20 [[ 9.99941790e-01 1.01251726e-02 -3.72786969e-03 3.83324232e-01] [-1.01260400e-02 9.99948707e-01 -2.13880901e-04 -9.78468740e-02] [ 3.72551290e-03 2.51617008e-04 9.99993029e-01 -1.99645251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8486238530000003 meters Centerline goodness : 0.114712 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.20 [[ 9.99942036e-01 1.00132189e-02 -3.95737989e-03 3.85017971e-01] [-1.00151940e-02 9.99949732e-01 -4.79580783e-04 -9.57154157e-02] [ 3.95237881e-03 5.19186911e-04 9.99992055e-01 -2.00080497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.878623853 meters Centerline goodness : 0.052404 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.20 [[ 9.99942012e-01 9.88927825e-03 -4.26313810e-03 3.87129119e-01] [-9.89279518e-03 9.99950741e-01 -8.04663676e-04 -9.31312191e-02] [ 4.25497056e-03 8.46791367e-04 9.99990589e-01 -2.00519152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9086238530000004 meters Centerline goodness : 0.116871 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.20 [[ 0.99994223 0.00975694 -0.00450975 0.3889123 ] [-0.00976175 0.99995181 -0.00104658 -0.09127985] [ 0.00449932 0.00109055 0.99998928 -0.2008901 ] [ 0. 0. 0. 1. ]] SLAMing on 2.938623853 meters Centerline goodness : 0.115638 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.20 [[ 0.99994216 0.00948044 -0.00508002 0.3931952 ] [-0.00948708 0.99995417 -0.0012832 -0.09056722] [ 0.00506762 0.00133133 0.99998627 -0.20144697] [ 0. 0. 0. 1. ]] SLAMing on 2.9686238530000004 meters Centerline goodness : 0.115680 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.20 [[ 0.99994186 0.00935347 -0.0053657 0.39510053] [-0.00936141 0.99995512 -0.00145743 -0.08933696] [ 0.00535182 0.00150758 0.99998454 -0.20165414] [ 0. 0. 0. 1. ]] SLAMing on 2.9986238530000002 meters Centerline goodness : 0.163643 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.20 [[ 0.99994236 0.00917706 -0.00557265 0.39638034] [-0.00918694 0.99995627 -0.00175084 -0.08722735] [ 0.00555634 0.00180193 0.99998294 -0.20152759] [ 0. 0. 0. 1. ]] SLAMing on 3.0286238530000005 meters Centerline goodness : 0.116110 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.20 [[ 0.99994453 0.00582877 -0.00877301 0.4139402 ] [-0.00583913 0.99998228 -0.00115536 -0.08225634] [ 0.00876612 0.00120652 0.99996085 -0.19629703] [ 0. 0. 0. 1. ]] SLAMing on 3.0586238530000003 meters Centerline goodness : 0.115538 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.20 [[ 0.99994314 0.00569912 -0.00901298 0.41547475] [-0.00571084 0.99998288 -0.00127543 -0.0815719 ] [ 0.00900556 0.00132683 0.99995857 -0.19642843] [ 0. 0. 0. 1. ]] SLAMing on 3.088623853 meters Centerline goodness : 0.088105 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.20 [[ 0.99994177 0.005556 -0.00925136 0.41704392] [-0.00556953 0.99998346 -0.00143741 -0.08056682] [ 0.00924322 0.00148885 0.99995617 -0.19673051] [ 0. 0. 0. 1. ]] SLAMing on 3.1186238530000003 meters Centerline goodness : 0.115086 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.20 [[ 0.99993947 0.00513235 -0.0097317 0.42058827] [-0.00514868 0.99998538 -0.00165321 -0.08002852] [ 0.00972307 0.00170321 0.99995128 -0.1974318 ] [ 0. 0. 0. 1. ]] SLAMing on 3.148623853 meters Centerline goodness : 0.115722 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.21 [[ 0.99999787 0.00127821 -0.00162272 0.43952016] [-0.00127186 0.99999155 0.00390875 -0.08259978] [ 0.0016277 -0.00390668 0.99999104 -0.20670706] [ 0. 0. 0. 1. ]] SLAMing on 3.1786238530000004 meters Centerline goodness : 0.082750 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.21 [[ 0.99999754 0.00108922 -0.00193115 0.44135158] [-0.00108143 0.9999913 0.00402981 -0.08410424] [ 0.00193552 -0.00402772 0.99999002 -0.20695265] [ 0. 0. 0. 1. ]] SLAMing on 3.208623853 meters Centerline goodness : 0.082379 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.21 [[ 9.99995612e-01 -7.85558594e-04 -2.85628294e-03 4.49680607e-01] [ 7.94343545e-04 9.99994954e-01 3.07582604e-03 -8.46719201e-02] [ 2.85385229e-03 -3.07808142e-03 9.99991190e-01 -2.10961966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2386238530000004 meters Centerline goodness : 0.116735 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.21 [[ 9.99994515e-01 -9.59550510e-04 -3.17010216e-03 4.51705104e-01] [ 9.69719310e-04 9.99994385e-01 3.20774178e-03 -8.60379420e-02] [ 3.16700637e-03 -3.21079829e-03 9.99989830e-01 -2.11644868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2686238530000002 meters Centerline goodness : 0.118804 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.22 [[ 0.99998809 -0.00264085 -0.00410457 0.45997414] [ 0.00265019 0.99999391 0.0022712 -0.08636498] [ 0.00409854 -0.00228205 0.999989 -0.21538203] [ 0. 0. 0. 1. ]] SLAMing on 3.2986238530000005 meters Centerline goodness : 0.118032 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.22 [[ 0.99998669 -0.00273942 -0.00437276 0.46145097] [ 0.00274997 0.99999332 0.00240901 -0.08757666] [ 0.00436613 -0.002421 0.99998754 -0.2153852 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3286238530000003 meters Centerline goodness : 0.118096 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.22 [[ 0.99998542 -0.00282907 -0.00459977 0.46272194] [ 0.00284051 0.99999288 0.00248304 -0.08831776] [ 0.00459271 -0.00249607 0.99998634 -0.21546843] [ 0. 0. 0. 1. ]] SLAMing on 3.358623853 meters Centerline goodness : 0.119356 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.22 [[ 0.99998343 -0.00295326 -0.00494108 0.46466768] [ 0.00296605 0.99999226 0.00258344 -0.08943248] [ 0.00493342 -0.00259805 0.99998446 -0.21561238] [ 0. 0. 0. 1. ]] SLAMing on 3.3886238530000004 meters Centerline goodness : 0.117874 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.22 [[ 0.99996159 -0.0069856 -0.00529393 0.46709723] [ 0.00697587 0.99997395 -0.0018529 -0.08724605] [ 0.00530674 0.0018159 0.99998427 -0.21564553] [ 0. 0. 0. 1. ]] SLAMing on 3.418623853 meters Centerline goodness : 0.121389 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.22 [[ 0.9999598 -0.00703555 -0.00555911 0.46850315] [ 0.00702677 0.99997404 -0.00159741 -0.08926513] [ 0.0055702 0.00155828 0.99998327 -0.21572035] [ 0. 0. 0. 1. ]] SLAMing on 3.4486238530000004 meters Centerline goodness : 0.121284 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.22 [[ 0.99995798 -0.00707783 -0.00582576 0.46992159] [ 0.00707023 0.99997413 -0.00132419 -0.09130418] [ 0.00583498 0.00128294 0.99998215 -0.21579864] [ 0. 0. 0. 1. ]] SLAMing on 3.478623853 meters Centerline goodness : 0.121578 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.22 [[ 9.99952329e-01 -7.40610952e-03 -6.36307947e-03 4.73212891e-01] [ 7.40011446e-03 9.99972153e-01 -9.65191427e-04 -9.47382550e-02] [ 6.37005059e-03 9.18057899e-04 9.99979290e-01 -2.16184339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5086238530000005 meters Centerline goodness : 0.121757 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.22 [[ 9.99950412e-01 -7.36635442e-03 -6.70146160e-03 4.75011614e-01] [ 7.36276717e-03 9.99972738e-01 -5.59806965e-04 -9.75531247e-02] [ 6.70540264e-03 5.10437904e-04 9.99977388e-01 -2.16303330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5386238530000003 meters Centerline goodness : 0.122644 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.22 [[ 9.99949466e-01 -7.26339720e-03 -6.95047519e-03 4.76236704e-01] [ 7.26285446e-03 9.99973620e-01 -1.03324063e-04 -1.00691962e-01] [ 6.95104232e-03 5.28385519e-05 9.99975840e-01 -2.16389198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5686238530000005 meters Centerline goodness : 0.121341 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 9.99946208e-01 -7.19404221e-03 -7.47173733e-03 4.79495843e-01] [ 7.19864427e-03 9.99973916e-01 5.89218147e-04 -1.05938798e-01] [ 7.46730358e-03 -6.42972831e-04 9.99971913e-01 -2.16736735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5986238530000003 meters Centerline goodness : 0.119673 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 9.99945717e-01 -7.03336391e-03 -7.68736139e-03 4.80519188e-01] [ 7.04068269e-03 9.99974786e-01 9.25406611e-04 -1.07963879e-01] [ 7.68065884e-03 -9.79480649e-04 9.99970024e-01 -2.16666094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.628623853 meters Centerline goodness : 0.121969 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 0.99994509 -0.00686229 -0.00791972 0.48160407] [ 0.00687262 0.99997557 0.00127758 -0.11004793] [ 0.00791076 -0.00133194 0.99996782 -0.216626 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6586238530000004 meters Centerline goodness : 0.117198 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 0.99994492 -0.00652427 -0.00822197 0.48363001] [ 0.00653995 0.99997684 0.00188165 -0.11362542] [ 0.0082095 -0.00193532 0.99996443 -0.21679827] [ 0. 0. 0. 1. ]] SLAMing on 3.688623853 meters Centerline goodness : 0.115464 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 0.99994383 -0.00634605 -0.00848935 0.48478932] [ 0.00636411 0.99997754 0.00210183 -0.11472076] [ 0.00847582 -0.00215574 0.99996176 -0.21669456] [ 0. 0. 0. 1. ]] SLAMing on 3.7186238530000004 meters Centerline goodness : 0.107411 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.22 [[ 0.99994342 -0.00611919 -0.00870158 0.48583173] [ 0.00614024 0.99997828 0.00239481 -0.11617919] [ 0.00868674 -0.0024481 0.99995927 -0.21677973] [ 0. 0. 0. 1. ]] SLAMing on 3.7486238530000002 meters Centerline goodness : 0.110691 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.22 [[ 0.99994393 -0.00558756 -0.00899494 0.48778596] [ 0.00561597 0.99997931 0.0031367 -0.12025057] [ 0.00897723 -0.00318704 0.99995463 -0.21702982] [ 0. 0. 0. 1. ]] SLAMing on 3.7786238530000005 meters Centerline goodness : 0.109613 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.22 [[ 0.99994314 -0.00537269 -0.00921196 0.48879036] [ 0.00540408 0.99997966 0.00338612 -0.12144307] [ 0.00919358 -0.00343571 0.99995184 -0.21706656] [ 0. 0. 0. 1. ]] SLAMing on 3.8086238530000003 meters Centerline goodness : 0.094349 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.21 [[ 0.99993496 -0.00179937 -0.01126234 0.5092239 ] [ 0.00176674 0.99999422 -0.002906 -0.12074994] [ 0.0112675 0.00288591 0.99993236 -0.21192319] [ 0. 0. 0. 1. ]] SLAMing on 3.8386238530000005 meters Centerline goodness : 0.099289 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.21 [[ 9.99931993e-01 -7.42599962e-04 -1.16386208e-02 5.11347438e-01] [ 7.13919358e-04 9.99996699e-01 -2.46822239e-03 -1.20866046e-01] [ 1.16404153e-02 2.45974550e-03 9.99929223e-01 -2.12165612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8686238530000003 meters Centerline goodness : 0.097824 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.21 [[ 9.99928845e-01 -5.06087642e-04 -1.19184646e-02 5.12602898e-01] [ 4.76996854e-04 9.99996901e-01 -2.44353296e-03 -1.20382158e-01] [ 1.19196643e-02 2.43767402e-03 9.99925987e-01 -2.12363084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.898623853 meters Centerline goodness : 0.096392 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.22 [[ 0.99999668 0.00120803 0.00227822 0.51434516] [-0.00120494 0.99999836 -0.00135574 -0.12193538] [-0.00227985 0.00135299 0.99999649 -0.21933913] [ 0. 0. 0. 1. ]] SLAMing on 3.9286238530000004 meters Centerline goodness : 0.096538 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.22 [[ 9.99996332e-01 1.91435233e-03 1.91606162e-03 5.16316979e-01] [-1.91255904e-03 9.99997732e-01 -9.37321176e-04 -1.23042212e-01] [-1.91785163e-03 9.33653157e-04 9.99997725e-01 -2.19639539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958623853 meters Centerline goodness : 0.098854 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.22 [[ 9.99996375e-01 2.05071519e-03 1.74473529e-03 5.17070245e-01] [-2.04936884e-03 9.99997601e-01 -7.73098419e-04 -1.23821567e-01] [-1.74631651e-03 7.69520011e-04 9.99998179e-01 -2.19762070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9886238530000004 meters Centerline goodness : 0.100641 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.22 [[ 9.99996420e-01 2.17020682e-03 1.56561020e-03 5.17772969e-01] [-2.16930166e-03 9.99997479e-01 -5.79618445e-04 -1.24852423e-01] [-1.56686415e-03 5.76220089e-04 9.99998606e-01 -2.19809578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018623853 meters Centerline goodness : 0.101049 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.22 [[ 9.99996317e-01 2.44358335e-03 1.18121963e-03 5.19831958e-01] [-2.44328520e-03 9.99996983e-01 -2.53780488e-04 -1.26278383e-01] [-1.18183620e-03 2.50893497e-04 9.99999270e-01 -2.19944299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0486238530000005 meters Centerline goodness : 0.101590 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.22 [[ 9.99996353e-01 2.51322212e-03 9.88977397e-04 5.20648325e-01] [-2.51307306e-03 9.99996831e-01 -1.51942576e-04 -1.26840840e-01] [-9.89356128e-04 1.49456649e-04 9.99999499e-01 -2.19956990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078623853000001 meters Centerline goodness : 0.102748 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.22 [[ 9.99996252e-01 2.61607236e-03 8.08020406e-04 5.21322992e-01] [-2.61617510e-03 9.99996570e-01 1.26113171e-04 -1.28424105e-01] [-8.07687713e-04 -1.28226621e-04 9.99999666e-01 -2.19924796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108623853 meters Centerline goodness : 0.104535 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99998534e-01 1.68591843e-03 2.99279452e-04 5.26627303e-01] [-1.68571026e-03 9.99998338e-01 -6.94474553e-04 -1.30068090e-01] [-3.00449782e-04 6.93969037e-04 9.99999714e-01 -2.23324474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138623853 meters Centerline goodness : 0.104777 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99998465e-01 1.74641710e-03 1.38650433e-04 5.27284606e-01] [-1.74633735e-03 9.99998311e-01 -5.73212407e-04 -1.30792656e-01] [-1.39651267e-04 5.72969397e-04 9.99999826e-01 -2.23331447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168623853000001 meters Centerline goodness : 0.105763 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99998377e-01 1.79923559e-03 -9.27676584e-05 5.28313728e-01] [-1.79928379e-03 9.99998245e-01 -5.22155589e-04 -1.30997760e-01] [ 9.18280146e-05 5.22321657e-04 9.99999859e-01 -2.23521051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.198623853 meters Centerline goodness : 0.106369 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998526 0.0048718 -0.00239672 0.54800398] [-0.0048893 0.99996103 -0.00735016 -0.12903336] [ 0.00236082 0.00736177 0.99997011 -0.21850761] [ 0. 0. 0. 1. ]] SLAMing on 4.228623853 meters Centerline goodness : 0.107365 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998311 0.00514099 -0.00270961 0.54972519] [-0.00516051 0.99996043 -0.00724603 -0.12909631] [ 0.00267225 0.00725989 0.99997008 -0.21880567] [ 0. 0. 0. 1. ]] SLAMing on 4.2586238530000005 meters Centerline goodness : 0.107838 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998216 0.00522729 -0.00289062 0.55024249] [-0.00524789 0.99996056 -0.00716456 -0.12935829] [ 0.00285305 0.0071796 0.99997016 -0.21856431] [ 0. 0. 0. 1. ]] SLAMing on 4.288623853000001 meters Centerline goodness : 0.109554 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998126 0.00528969 -0.00308159 0.55089855] [-0.00531163 0.99996028 -0.00715767 -0.12915372] [ 0.00304361 0.00717391 0.99996964 -0.21842843] [ 0. 0. 0. 1. ]] SLAMing on 4.318623853 meters Centerline goodness : 0.107920 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998006 0.00541551 -0.00324817 0.55172808] [-0.00543901 0.99995879 -0.0072687 -0.12787675] [ 0.00320868 0.00728622 0.99996831 -0.21833052] [ 0. 0. 0. 1. ]] SLAMing on 4.348623853 meters Centerline goodness : 0.108339 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99997961 0.00541308 -0.00338907 0.55223997] [-0.00543782 0.99995832 -0.00733398 -0.12739382] [ 0.00334923 0.00735226 0.99996736 -0.21832983] [ 0. 0. 0. 1. ]] SLAMing on 4.378623853000001 meters Centerline goodness : 0.106911 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.9999793 0.00538492 -0.003522 0.5526622 ] [-0.00541103 0.99995764 -0.0074452 -0.12672619] [ 0.00348176 0.00746411 0.99996608 -0.21819954] [ 0. 0. 0. 1. ]] SLAMing on 4.408623853000001 meters Centerline goodness : 0.105568 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99997921 0.00531417 -0.00365321 0.55347638] [-0.00534182 0.99995685 -0.00759962 -0.12590117] [ 0.00361267 0.00761898 0.99996445 -0.21829456] [ 0. 0. 0. 1. ]] SLAMing on 4.438623853 meters Centerline goodness : 0.104509 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.22 [[ 9.99984550e-01 1.35421927e-03 -5.39127309e-03 5.36995740e-01] [-1.35477384e-03 9.99999077e-01 -9.92149933e-05 -1.28584199e-01] [ 5.39113376e-03 1.06517416e-04 9.99985462e-01 -2.20857673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468623853 meters Centerline goodness : 0.103373 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.22 [[ 9.99983212e-01 1.33593408e-03 -5.63840570e-03 5.37823170e-01] [-1.33499871e-03 9.99999094e-01 1.69653190e-04 -1.30463264e-01] [ 5.63862724e-03 -1.62123077e-04 9.99984090e-01 -2.20788586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498623853000001 meters Centerline goodness : 0.102764 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99987042e-01 -4.17382560e-04 -5.07360257e-03 5.33866965e-01] [ 4.10604335e-04 9.99999022e-01 -1.33694681e-03 -1.29880863e-01] [ 5.07415562e-03 1.33484625e-03 9.99986235e-01 -2.18111998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528623853 meters Centerline goodness : 0.102449 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99986218e-01 -4.74417172e-04 -5.22866175e-03 5.34393304e-01] [ 4.67690629e-04 9.99999062e-01 -1.28762270e-03 -1.30341694e-01] [ 5.22926771e-03 1.28515956e-03 9.99985501e-01 -2.18139352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558623853 meters Centerline goodness : 0.079482 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99985608e-01 -5.25343585e-04 -5.33934231e-03 5.34740046e-01] [ 5.19059049e-04 9.99999171e-01 -1.17834193e-03 -1.31259788e-01] [ 5.33995692e-03 1.17555354e-03 9.99985051e-01 -2.18124937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5886238530000005 meters Centerline goodness : 0.100667 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.22 [[ 9.99984011e-01 -6.21879985e-04 -5.62056754e-03 5.35528032e-01] [ 6.16434222e-04 9.99999339e-01 -9.70579555e-04 -1.32907212e-01] [ 5.62116741e-03 9.67099326e-04 9.99983733e-01 -2.17906217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.618623853000001 meters Centerline goodness : 0.100667 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.22 [[ 9.99984011e-01 -6.21879985e-04 -5.62056754e-03 5.35528032e-01] [ 6.16434222e-04 9.99999339e-01 -9.70579555e-04 -1.32907212e-01] [ 5.62116741e-03 9.67099326e-04 9.99983733e-01 -2.17906217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648623853 meters Centerline goodness : 0.098709 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.22 [[ 9.99981817e-01 -1.34210657e-03 -5.87913275e-03 5.36800821e-01] [ 1.33807619e-03 9.99998867e-01 -6.89418770e-04 -1.36959912e-01] [ 5.88005137e-03 6.81539506e-04 9.99982480e-01 -2.18131422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678623853 meters Centerline goodness : 0.268071 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.22 [[ 9.99993145e-01 -2.79286133e-03 -2.43101696e-03 4.87375535e-01] [ 2.79162258e-03 9.99995972e-01 -5.12803832e-04 -1.39573206e-01] [ 2.43243936e-03 5.06013834e-04 9.99996914e-01 -2.17603214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708623853000001 meters Centerline goodness : 0.166798 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.22 [[ 9.99990556e-01 -3.63113852e-03 -2.38824160e-03 4.87386318e-01] [ 3.63109414e-03 9.99993407e-01 -2.29195107e-05 -1.45577439e-01] [ 2.38830907e-03 1.42473642e-05 9.99997148e-01 -2.17326025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738623853 meters Centerline goodness : 0.097680 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.22 [[ 9.99990341e-01 -3.62307610e-03 -2.48830694e-03 4.87698401e-01] [ 3.62438886e-03 9.99993295e-01 5.23264364e-04 -1.48884292e-01] [ 2.48639443e-03 -5.32277901e-04 9.99996767e-01 -2.17271635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768623853 meters Centerline goodness : 0.764825 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.22 [[ 0.99998025 -0.00533198 -0.00332628 0.49323328] [ 0.0053285 0.99998525 -0.00105301 -0.14909152] [ 0.00333184 0.00103527 0.99999391 -0.22058758] [ 0. 0. 0. 1. ]] SLAMing on 4.7986238530000005 meters Centerline goodness : 0.097983 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.22 [[ 0.99996601 -0.0070784 -0.00422836 0.49915797] [ 0.0070672 0.99997149 -0.00265792 -0.14968128] [ 0.00424706 0.00262794 0.99998753 -0.22413 ] [ 0. 0. 0. 1. ]] SLAMing on 4.828623853000001 meters Centerline goodness : 0.975561 Centerline is valid? [False, True] Translation: X:0.50, Y:-0.16, Z:-0.22 [[ 0.99996338 -0.00740317 -0.00429279 0.49933636] [ 0.0073958 0.99997116 -0.00172886 -0.15654038] [ 0.00430547 0.00169704 0.99998929 -0.22394873] [ 0. 0. 0. 1. ]] SLAMing on 4.858623853 meters Centerline goodness : 0.978720 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.16, Z:-0.22 [[ 9.99950962e-01 -8.92773415e-03 -4.28590130e-03 5.28426813e-01] [ 8.92788870e-03 9.99960145e-01 1.69287392e-05 -1.60875233e-01] [ 4.28557935e-03 -5.51919588e-05 9.99990815e-01 -2.21693084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888623853 meters Centerline goodness : 0.982204 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.17, Z:-0.22 [[ 9.99929856e-01 -1.10414960e-02 -4.28590372e-03 5.57458327e-01] [ 1.10416672e-02 9.99939039e-01 1.62920470e-05 -1.67545002e-01] [ 4.28546255e-03 -6.36144269e-05 9.99990815e-01 -2.17376809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918623853000001 meters Centerline goodness : 0.981354 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.17, Z:-0.22 [[ 9.99920703e-01 -1.18414325e-02 -4.28590614e-03 5.85371523e-01] [ 1.18416082e-02 9.99929886e-01 1.56278954e-05 -1.71282727e-01] [ 4.28542058e-03 -6.63786775e-05 9.99990815e-01 -2.20822900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948623853000001 meters Centerline goodness : 0.980926 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.17, Z:-0.22 [[ 9.99913314e-01 -1.24497268e-02 -4.28590735e-03 6.13302691e-01] [ 1.24499067e-02 9.99922497e-01 1.52866524e-05 -1.74856367e-01] [ 4.28538487e-03 -6.86444739e-05 9.99990815e-01 -2.20467250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978623853 meters Centerline goodness : 0.983976 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.18, Z:-0.22 [[ 9.99903657e-01 -1.32025414e-02 -4.28590983e-03 6.41468875e-01] [ 1.32027251e-02 9.99912840e-01 1.45589737e-05 -1.80478313e-01] [ 4.28534405e-03 -7.11432603e-05 9.99990815e-01 -2.20287775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0086238530000005 meters Centerline goodness : 0.986033 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.18, Z:-0.22 [[ 9.99901560e-01 -1.33604352e-02 -4.28591096e-03 6.70579495e-01] [ 1.33606189e-02 9.99910743e-01 1.42171399e-05 -1.83001270e-01] [ 4.28533846e-03 -7.14781631e-05 9.99990815e-01 -2.18109784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038623853000001 meters Centerline goodness : 0.984690 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.19, Z:-0.22 [[ 9.99910849e-01 -1.26461326e-02 -4.28591303e-03 6.98237005e-01] [ 1.26463069e-02 9.99920032e-01 1.35619440e-05 -1.86426235e-01] [ 4.28539879e-03 -6.77617064e-05 9.99990815e-01 -2.20535983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068623853 meters Centerline goodness : 0.987810 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.19, Z:-0.22 [[ 9.99918984e-01 -1.19856643e-02 -4.28591376e-03 7.26706092e-01] [ 1.19858315e-02 9.99928167e-01 1.33293752e-05 -1.89794055e-01] [ 4.28544613e-03 -6.46985356e-05 9.99990815e-01 -2.16166486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098623853 meters Centerline goodness : 0.986463 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.20, Z:-0.22 [[ 9.99943826e-01 -9.69413564e-03 -4.28591569e-03 7.54619273e-01] [ 9.69427901e-03 9.99953009e-01 1.26772627e-05 -1.96375668e-01] [ 4.28559139e-03 -5.42254130e-05 9.99990815e-01 -2.15929781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128623853000001 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.20, Z:-0.21 [[ 9.99959778e-01 -7.87863178e-03 -4.28591671e-03 7.83486383e-01] [ 7.87875695e-03 9.99968962e-01 1.23197722e-05 -1.98864633e-01] [ 4.28568662e-03 -4.60869727e-05 9.99990815e-01 -2.14433883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.158623853000001 meters Centerline goodness : 0.989966 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.20, Z:-0.21 [[ 9.99975354e-01 -5.56080170e-03 -4.28591846e-03 8.11824651e-01] [ 5.56090283e-03 9.99984538e-01 1.16788349e-05 -2.00896581e-01] [ 4.28578725e-03 -3.55121231e-05 9.99990815e-01 -2.12120072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188623853 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.20, Z:-0.21 [[ 9.99990765e-01 -3.17429815e-04 -4.28591907e-03 8.40765974e-01] [ 3.17481808e-04 9.99999950e-01 1.14507325e-05 -2.04204377e-01] [ 4.28591522e-03 -1.28113281e-05 9.99990815e-01 -2.09073001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218623853 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.21, Z:-0.21 [[ 9.99988518e-01 2.14359679e-03 -4.28592076e-03 8.68644105e-01] [-2.14357028e-03 9.99997702e-01 1.07798650e-05 -2.05722506e-01] [ 4.28593402e-03 -1.59256888e-06 9.99990815e-01 -2.11488961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248623853000001 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.21, Z:-0.21 [[ 9.99980041e-01 4.64209176e-03 -4.28592134e-03 8.97504331e-01] [-4.64208921e-03 9.99989225e-01 1.05416908e-05 -2.06899021e-01] [ 4.28592410e-03 9.35414881e-06 9.99990815e-01 -2.06905922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278623853 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.21, Z:-0.21 [[ 9.99966129e-01 7.02651063e-03 -4.28592287e-03 9.26364226e-01] [-7.02653282e-03 9.99975314e-01 9.87949511e-06 -2.08166235e-01] [ 4.28588648e-03 2.02360172e-05 9.99990815e-01 -2.09520798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308623853 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.21, Z:-0.21 [[ 9.99931988e-01 1.08467029e-02 -4.28592319e-03 9.55796507e-01] [-1.08467608e-02 9.99941172e-01 9.73839069e-06 -2.11720945e-01] [ 4.28577669e-03 3.67506554e-05 9.99990815e-01 -2.10323616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3386238530000005 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.21, Z:-0.21 [[ 9.99918177e-01 1.20528299e-02 -4.28592340e-03 9.85243669e-01] [-1.20528993e-02 9.99927361e-01 9.64500076e-06 -2.12521699e-01] [ 4.28572832e-03 4.20135916e-05 9.99990815e-01 -2.11648620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368623853000001 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.21, Z:-0.21 [[ 9.99907179e-01 1.29330319e-02 -4.28592361e-03 1.01547905e+00] [-1.29331098e-02 9.99916364e-01 9.55184915e-06 -2.13902038e-01] [ 4.28568868e-03 4.58793579e-05 9.99990815e-01 -2.12783971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398623853 meters Centerline goodness : 0.996401 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.22, Z:-0.21 [[ 9.99888358e-01 1.43143969e-02 -4.28592361e-03 1.04557410e+00] [-1.43144875e-02 9.99897542e-01 9.55184915e-06 -2.17494027e-01] [ 4.28562121e-03 5.18000170e-05 9.99990815e-01 -2.12071897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428623853 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.22, Z:-0.21 [[ 9.99876928e-01 1.50916892e-02 -4.28592361e-03 1.07597531e+00] [-1.50917869e-02 9.99886112e-01 9.55184915e-06 -2.19314344e-01] [ 4.28557965e-03 5.51315722e-05 9.99990815e-01 -2.12654976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458623853000001 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.22, Z:-0.21 [[ 9.99852310e-01 1.66430058e-02 -4.28592361e-03 1.10612648e+00] [-1.66431177e-02 9.99861494e-01 9.55184915e-06 -2.22568585e-01] [ 4.28548895e-03 6.17806926e-05 9.99990815e-01 -2.11613516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488623853000001 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.22, Z:-0.21 [[ 9.99839926e-01 1.73710275e-02 -4.28592361e-03 1.13678169e+00] [-1.73711461e-02 9.99849110e-01 9.55184915e-06 -2.24153869e-01] [ 4.28544283e-03 6.49010848e-05 9.99990815e-01 -2.13057127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518623853 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.22, Z:-0.21 [[ 9.99822798e-01 1.83303921e-02 -4.28592350e-03 1.16855535e+00] [-1.83305193e-02 9.99831982e-01 9.60043940e-06 -2.24204185e-01] [ 4.28537937e-03 6.89644652e-05 9.99990815e-01 -2.13091735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5486238530000005 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.22, Z:-0.21 [[ 9.99786324e-01 2.02221912e-02 -4.28592329e-03 1.20028898e+00] [-2.02223354e-02 9.99795508e-01 9.69413923e-06 -2.24260848e-01] [ 4.28524288e-03 7.69793103e-05 9.99990815e-01 -2.14523201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.578623853000001 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.22, Z:-0.22 [[ 9.99762914e-01 2.13482196e-02 -4.28592306e-03 1.23134881e+00] [-2.13483737e-02 9.99772097e-01 9.79116111e-06 -2.24869368e-01] [ 4.28515532e-03 8.17086475e-05 9.99990815e-01 -2.15073619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608623853 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.23, Z:-0.21 [[ 9.99734606e-01 2.26351163e-02 -4.28592154e-03 1.26279482e+00] [-2.26352795e-02 9.99743789e-01 1.04201022e-05 -2.25864321e-01] [ 4.28505930e-03 8.65956952e-05 9.99990815e-01 -2.14923100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638623853 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.23, Z:-0.21 [[ 9.99729760e-01 2.28481398e-02 -4.28591994e-03 1.29433250e+00] [-2.28483024e-02 9.99738943e-01 1.10394291e-05 -2.27707077e-01] [ 4.28505330e-03 8.68895489e-05 9.99990815e-01 -2.10909296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668623853000001 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.23, Z:-0.21 [[ 9.99688660e-01 2.45807770e-02 -4.28591827e-03 1.32624909e+00] [-2.45809528e-02 9.99697843e-01 1.16544961e-05 -2.26767663e-01] [ 4.28490972e-03 9.37010870e-05 9.99990815e-01 -2.12224769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.698623853000001 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.23, Z:-0.21 [[ 9.99681938e-01 2.48526561e-02 -4.28591633e-03 1.35831346e+00] [-2.48528316e-02 9.99691121e-01 1.23270463e-05 -2.26649333e-01] [ 4.28489886e-03 9.41940312e-05 9.99990815e-01 -2.11442644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728623853 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.23, Z:-0.21 [[ 9.99678779e-01 2.49793927e-02 -4.28591430e-03 1.39009949e+00] [-2.49795665e-02 9.99687962e-01 1.29968235e-05 -2.26864799e-01] [ 4.28490159e-03 9.40676325e-05 9.99990815e-01 -2.10133234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7586238530000005 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.23, Z:-0.21 [[ 9.99675074e-01 2.51272045e-02 -4.28591211e-03 1.42239819e+00] [-2.51273767e-02 9.99684258e-01 1.36845882e-05 -2.26778006e-01] [ 4.28490272e-03 9.40135863e-05 9.99990815e-01 -2.09755629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788623853000001 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.23, Z:-0.21 [[ 9.99680649e-01 2.49044176e-02 -4.28590963e-03 1.45480597e+00] [-2.49045845e-02 9.99689833e-01 1.44201671e-05 -2.26500411e-01] [ 4.28493941e-03 9.23232366e-05 9.99990815e-01 -2.08190186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818623853 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.23, Z:-0.21 [[ 9.99715490e-01 2.34642451e-02 -4.28590715e-03 1.48733638e+00] [-2.34643958e-02 9.99724673e-01 1.51240596e-05 -2.25286917e-01] [ 4.28508200e-03 8.54464650e-05 9.99990815e-01 -2.08569370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848623853 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.22, Z:-0.21 [[ 9.99741780e-01 2.23159899e-02 -4.28590453e-03 1.51979779e+00] [-2.23161270e-02 9.99750964e-01 1.58331412e-05 -2.24668771e-01] [ 4.28519052e-03 7.98157371e-05 9.99990815e-01 -2.09792191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878623853000001 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.22, Z:-0.21 [[ 9.99769938e-01 2.10167317e-02 -4.28590159e-03 1.55197201e+00] [-2.10168537e-02 9.99779121e-01 1.65926188e-05 -2.23994338e-01] [ 4.28530365e-03 7.34873651e-05 9.99990815e-01 -2.09177092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908623853000001 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.22, Z:-0.21 [[ 9.99853761e-01 1.65555771e-02 -4.28589879e-03 1.58380630e+00] [-1.65556551e-02 9.99862946e-01 1.72870708e-05 -2.24337737e-01] [ 4.28559758e-03 5.36713193e-05 9.99990815e-01 -2.09676022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938623853 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.22, Z:-0.21 [[ 9.99894635e-01 1.38690243e-02 -4.28589817e-03 1.61508390e+00] [-1.38690770e-02 9.99903820e-01 1.74390253e-05 -2.24907154e-01] [ 4.28572781e-03 4.20042637e-05 9.99990815e-01 -2.07809891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968623853 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.23, Z:-0.21 [[ 9.99926067e-01 1.13794746e-02 -4.28589773e-03 1.64564019e+00] [-1.13795039e-02 9.99935251e-01 1.75459466e-05 -2.25262704e-01] [ 4.28581989e-03 3.12267408e-05 9.99990815e-01 -2.08141035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998623853000001 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.23, Z:-0.20 [[ 9.99962626e-01 7.50845540e-03 -4.28589751e-03 1.67637933e+00] [-7.50844894e-03 9.99971811e-01 1.75991094e-05 -2.26085174e-01] [ 4.28590884e-03 1.45819910e-05 9.99990815e-01 -2.02038657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028623853000001 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.23, Z:-0.21 [[ 9.99983256e-01 3.88835486e-03 -4.28589751e-03 1.70518954e+00] [-3.88831514e-03 9.99992440e-01 1.75991094e-05 -2.25199063e-01] [ 4.28593354e-03 -9.33894506e-07 9.99990815e-01 -2.07612833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058623853 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.23, Z:-0.21 [[ 9.99988825e-01 1.99506408e-03 -4.28589793e-03 1.73427369e+00] [-1.99500741e-03 9.99998010e-01 1.74971482e-05 -2.25603761e-01] [ 4.28592431e-03 -8.94655458e-06 9.99990815e-01 -2.07363130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0886238530000005 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.23, Z:-0.21 [[ 9.99990545e-01 7.34932567e-04 -4.28589855e-03 1.76326425e+00] [-7.34864980e-04 9.99999730e-01 1.73443896e-05 -2.26326466e-01] [ 4.28591014e-03 -1.41946689e-05 9.99990815e-01 -2.06890198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.118623853000001 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.23, Z:-0.21 [[ 9.99989943e-01 -1.32074456e-03 -4.28589937e-03 1.79124224e+00] [ 1.32083015e-03 9.99999128e-01 1.71396021e-05 -2.28139181e-01] [ 4.28587299e-03 -2.28003749e-05 9.99990815e-01 -2.08184563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148623853 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.23, Z:-0.21 [[ 9.99988622e-01 -2.09437824e-03 -4.28590037e-03 1.81903701e+00] [ 2.09446984e-03 9.99997806e-01 1.68842318e-05 -2.28565527e-01] [ 4.28585561e-03 -2.58607287e-05 9.99990815e-01 -2.07469247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178623853 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.23, Z:-0.21 [[ 9.99986210e-01 -3.03494880e-03 -4.28590135e-03 1.84683866e+00] [ 3.03504795e-03 9.99995394e-01 1.66313231e-05 -2.29681039e-01] [ 4.28583114e-03 -2.96390099e-05 9.99990815e-01 -2.05893377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208623853000001 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.23, Z:-0.21 [[ 9.99984946e-01 -3.42608477e-03 -4.28590231e-03 1.87490263e+00] [ 3.42618644e-03 9.99994130e-01 1.63814820e-05 -2.30358948e-01] [ 4.28582103e-03 -3.10655358e-05 9.99990815e-01 -2.05025137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238623853000001 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.23, Z:-0.20 [[ 9.99980457e-01 -4.55149004e-03 -4.28590531e-03 1.90377202e+00] [ 4.55159851e-03 9.99989641e-01 1.55544498e-05 -2.31259666e-01] [ 4.28579012e-03 -3.50618660e-05 9.99990815e-01 -2.04208593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.23, Z:-0.21 [[ 9.99978153e-01 -5.03244069e-03 -4.28590789e-03 1.93127013e+00] [ 5.03255037e-03 9.99987337e-01 1.48061350e-05 -2.32868662e-01] [ 4.28577911e-03 -3.63748589e-05 9.99990815e-01 -2.06336830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2986238530000005 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.24, Z:-0.20 [[ 9.99968021e-01 -6.75181433e-03 -4.28590879e-03 1.95906618e+00] [ 6.75193867e-03 9.99977205e-01 1.45415172e-05 -2.35674600e-01] [ 4.28571291e-03 -4.34792454e-05 9.99990815e-01 -2.01015591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328623853000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.24, Z:-0.21 [[ 9.99969108e-01 -6.58899683e-03 -4.28591131e-03 1.98736567e+00] [ 6.58911631e-03 9.99978291e-01 1.37572511e-05 -2.36739398e-01] [ 4.28572762e-03 -4.19971942e-05 9.99990815e-01 -2.05905760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358623853 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.24, Z:-0.21 [[ 9.99961807e-01 -7.61679237e-03 -4.28591377e-03 2.01494103e+00] [ 7.61691780e-03 9.99970991e-01 1.29422325e-05 -2.40732852e-01] [ 4.28569086e-03 -4.55871911e-05 9.99990815e-01 -2.06017815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.24, Z:-0.21 [[ 9.99963277e-01 -7.42131411e-03 -4.28591616e-03 2.04268269e+00] [ 7.42143411e-03 9.99972461e-01 1.20960571e-05 -2.42797089e-01] [ 4.28570836e-03 -4.39032572e-05 9.99990815e-01 -2.07619403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418623853000001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.24, Z:-0.21 [[ 9.99967018e-01 -6.89881207e-03 -4.28591689e-03 2.07073318e+00] [ 6.89892614e-03 9.99976202e-01 1.18322039e-05 -2.44459571e-01] [ 4.28573326e-03 -4.14000377e-05 9.99990815e-01 -2.07070721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448623853000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.25, Z:-0.20 [[ 9.99981185e-01 -4.38872608e-03 -4.28591757e-03 2.09814937e+00] [ 4.38881602e-03 9.99990369e-01 1.15805688e-05 -2.46856184e-01] [ 4.28582547e-03 -3.03904546e-05 9.99990815e-01 -2.04979407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.25, Z:-0.20 [[ 9.99988177e-01 -2.29703945e-03 -4.28591823e-03 2.12637951e+00] [ 2.29710911e-03 9.99997362e-01 1.13317664e-05 -2.47847679e-01] [ 4.28588089e-03 -2.11768542e-05 9.99990815e-01 -2.02917818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5086238530000005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.25, Z:-0.20 [[ 9.99985644e-01 3.21608454e-03 -4.28592026e-03 2.15309725e+00] [-3.21606908e-03 9.99994828e-01 1.05001337e-05 -2.50127364e-01] [ 4.28593187e-03 3.28383272e-06 9.99990815e-01 -2.02846307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538623853000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.25, Z:-0.20 [[ 9.99985789e-01 3.17057098e-03 -4.28592112e-03 2.18243664e+00] [-3.17055665e-03 9.99994974e-01 1.01383218e-05 -2.50106873e-01] [ 4.28593172e-03 3.45057795e-06 9.99990815e-01 -2.02720644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568623853000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.25, Z:-0.20 [[ 9.99969328e-01 6.55546318e-03 -4.28592157e-03 2.21156972e+00] [-6.55548077e-03 9.99978513e-01 9.94325635e-06 -2.50246629e-01] [ 4.28589466e-03 1.81533251e-05 9.99990815e-01 -2.01581759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.25, Z:-0.20 [[ 9.99941222e-01 9.95911857e-03 -4.28592313e-03 2.24051720e+00] [-9.95917054e-03 9.99950406e-01 9.21741351e-06 -2.49905682e-01] [ 4.28580237e-03 3.34673677e-05 9.99990815e-01 -2.02213131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628623853000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.25, Z:-0.20 [[ 9.99900379e-01 1.34485044e-02 -4.28592346e-03 2.27092806e+00] [-1.34485890e-02 9.99909564e-01 9.06315711e-06 -2.50074907e-01] [ 4.28565774e-03 4.85773690e-05 9.99990815e-01 -2.02625827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658623853000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.25, Z:-0.20 [[ 9.99797131e-01 1.96806568e-02 -4.28592346e-03 2.30153248e+00] [-1.96807987e-02 9.99806314e-01 9.06315711e-06 -2.49666904e-01] [ 4.28527171e-03 7.52890783e-05 9.99990815e-01 -2.04113281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.25, Z:-0.20 [[ 9.99740955e-01 2.23529220e-02 -4.28592346e-03 2.33405772e+00] [-2.23530885e-02 9.99750138e-01 9.06315711e-06 -2.49263635e-01] [ 4.28505516e-03 8.67428170e-05 9.99990815e-01 -2.04290575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.25, Z:-0.21 [[ 9.99687677e-01 2.46207119e-02 -4.28592177e-03 2.36561672e+00] [-2.46208960e-02 9.99696860e-01 9.80053716e-06 -2.48493611e-01] [ 4.28486383e-03 9.57257582e-05 9.99990815e-01 -2.05449999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.25, Z:-0.20 [[ 9.99585928e-01 2.84535216e-02 -4.28591983e-03 2.39816468e+00] [-2.84537376e-02 9.99595110e-01 1.05853952e-05 -2.46629430e-01] [ 4.28448570e-03 1.11369426e-04 9.99990815e-01 -2.04350440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778623853000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.25, Z:-0.20 [[ 9.99546329e-01 2.98122106e-02 -4.28591764e-03 2.43143278e+00] [-2.98124355e-02 9.99555510e-01 1.14088695e-05 -2.45449716e-01] [ 4.28435272e-03 1.16369950e-04 9.99990815e-01 -2.04487170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.24, Z:-0.20 [[ 9.99506689e-01 3.11128550e-02 -4.28591531e-03 2.46423434e+00] [-3.11130884e-02 9.99515871e-01 1.22273624e-05 -2.44097220e-01] [ 4.28422080e-03 1.21126731e-04 9.99990815e-01 -2.04013113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8386238530000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.24, Z:-0.20 [[ 9.99464640e-01 3.24355469e-02 -4.28591282e-03 2.49685223e+00] [-3.24357889e-02 9.99473821e-01 1.30457179e-05 -2.41762766e-01] [ 4.28408080e-03 1.25978230e-04 9.99990815e-01 -2.01688327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868623853000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.24, Z:-0.20 [[ 9.99448824e-01 3.29192857e-02 -4.28591017e-03 2.52959594e+00] [-3.29195287e-02 9.99458005e-01 1.38629927e-05 -2.40897009e-01] [ 4.28404359e-03 1.27234791e-04 9.99990815e-01 -2.00813105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.24, Z:-0.20 [[ 9.99446015e-01 3.30044483e-02 -4.28590740e-03 2.56255060e+00] [-3.30046886e-02 9.99455197e-01 1.46738191e-05 -2.37568684e-01] [ 4.28405672e-03 1.26789349e-04 9.99990815e-01 -2.00175739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.24, Z:-0.20 [[ 9.99445765e-01 3.30120349e-02 -4.28590435e-03 2.59479713e+00] [-3.30122716e-02 9.99454946e-01 1.55154754e-05 -2.35525986e-01] [ 4.28408050e-03 1.25980562e-04 9.99990815e-01 -2.00493251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.23, Z:-0.20 [[ 9.99449196e-01 3.29080025e-02 -4.28590137e-03 2.62803912e+00] [-3.29082349e-02 9.99458377e-01 1.62978852e-05 -2.33590895e-01] [ 4.28411636e-03 1.24752541e-04 9.99990815e-01 -2.00691282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988623853000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.23, Z:-0.20 [[ 9.99497018e-01 3.14220118e-02 -4.28589807e-03 2.65972562e+00] [-3.14222270e-02 9.99506200e-01 1.71248078e-05 -2.29707818e-01] [ 4.28431979e-03 1.17556268e-04 9.99990815e-01 -2.02874183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.23, Z:-0.20 [[ 9.99531270e-01 3.03128958e-02 -4.28589486e-03 2.69310817e+00] [-3.03130975e-02 9.99540452e-01 1.78947072e-05 -2.28031969e-01] [ 4.28446772e-03 1.12032429e-04 9.99990815e-01 -2.03526819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0486238530000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.23, Z:-0.21 [[ 9.99566050e-01 2.91434769e-02 -4.28589123e-03 2.72485794e+00] [-2.91436644e-02 9.99575233e-01 1.87248277e-05 -2.26463253e-01] [ 4.28461643e-03 1.06189873e-04 9.99990815e-01 -2.05784708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.078623853000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.22, Z:-0.21 [[ 9.99609470e-01 2.76141088e-02 -4.28588891e-03 2.75813528e+00] [-2.76142800e-02 9.99618653e-01 1.92415346e-05 -2.24850082e-01] [ 4.28478584e-03 9.91177161e-05 9.99990815e-01 -2.05230856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.22, Z:-0.20 [[ 9.99698105e-01 2.41936023e-02 -4.28588503e-03 2.79087734e+00] [-2.41937385e-02 9.99707288e-01 2.00698408e-05 -2.22559009e-01] [ 4.28511606e-03 8.36277999e-05 9.99990815e-01 -2.04598271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.22, Z:-0.21 [[ 9.99730016e-01 2.28369660e-02 -4.28588090e-03 2.82234496e+00] [-2.28370862e-02 9.99739200e-01 2.09158156e-05 -2.21432408e-01] [ 4.28524080e-03 7.69668627e-05 9.99990815e-01 -2.05342517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.22, Z:-0.20 [[ 9.99774933e-01 2.07777269e-02 -4.28587746e-03 2.85498768e+00] [-2.07778251e-02 9.99784117e-01 2.15982128e-05 -2.18528015e-01] [ 4.28540098e-03 6.74578607e-05 9.99990815e-01 -2.04152671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.198623853000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.22, Z:-0.20 [[ 9.99786292e-01 2.02237956e-02 -4.28587369e-03 2.88591352e+00] [-2.02238857e-02 9.99795476e-01 2.23223258e-05 -2.16775392e-01] [ 4.28544857e-03 6.43594643e-05 9.99990815e-01 -2.04117331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.21, Z:-0.20 [[ 9.99798756e-01 1.95979249e-02 -4.28587010e-03 2.91701186e+00] [-1.95980064e-02 9.99807940e-01 2.29911476e-05 -2.14870384e-01] [ 4.28549754e-03 6.10079889e-05 9.99990815e-01 -2.02101270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2586238530000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.21, Z:-0.20 [[ 9.99825096e-01 1.82046237e-02 -4.28586954e-03 2.94830415e+00] [-1.82046919e-02 9.99834281e-01 2.30950963e-05 -2.12272959e-01] [ 4.28557973e-03 5.49318777e-05 9.99990815e-01 -1.97084609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.21, Z:-0.20 [[ 9.99817886e-01 1.85963862e-02 -4.28586898e-03 2.97969147e+00] [-1.85964575e-02 9.99827071e-01 2.31983458e-05 -2.09809714e-01] [ 4.28555924e-03 5.65078595e-05 9.99990815e-01 -1.99929029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.21, Z:-0.20 [[ 9.99827394e-01 1.80780029e-02 -4.28586842e-03 3.01126314e+00] [-1.80780690e-02 9.99836578e-01 2.33023838e-05 -2.08361973e-01] [ 4.28558927e-03 5.41818635e-05 9.99990815e-01 -1.99726086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.21, Z:-0.20 [[ 9.99836189e-01 1.75848636e-02 -4.28586784e-03 3.04115408e+00] [-1.75849248e-02 9.99845373e-01 2.34081261e-05 -2.06353492e-01] [ 4.28561676e-03 5.19623721e-05 9.99990815e-01 -2.00583232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.20, Z:-0.20 [[ 9.99846880e-01 1.69660842e-02 -4.28586755e-03 3.07118540e+00] [-1.69661395e-02 9.99856064e-01 2.34607895e-05 -2.01893320e-01] [ 4.28564870e-03 4.92574297e-05 9.99990815e-01 -2.01994862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.20, Z:-0.20 [[ 9.99861810e-01 1.60621382e-02 -4.28586727e-03 3.10153427e+00] [-1.60621850e-02 9.99870995e-01 2.35115327e-05 -1.99799390e-01] [ 4.28569202e-03 4.53321093e-05 9.99990815e-01 -2.01533885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.20, Z:-0.20 [[ 9.99886567e-01 1.44389739e-02 -4.28586727e-03 3.13230945e+00] [-1.44390057e-02 9.99895752e-01 2.35115327e-05 -1.96284238e-01] [ 4.28575996e-03 3.83747963e-05 9.99990815e-01 -2.02973320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.19, Z:-0.20 [[ 9.99900622e-01 1.34304741e-02 -4.28586589e-03 3.16290630e+00] [-1.34304956e-02 9.99909807e-01 2.37611243e-05 -1.94664838e-01] [ 4.28579846e-03 3.38025400e-05 9.99990815e-01 -2.03003306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498623853000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.19, Z:-0.20 [[ 9.99912768e-01 1.24935182e-02 -4.28586589e-03 3.19211750e+00] [-1.24935311e-02 9.99921953e-01 2.37611243e-05 -1.93124771e-01] [ 4.28582825e-03 2.97865471e-05 9.99990815e-01 -2.03378362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.19, Z:-0.20 [[ 9.99935296e-01 1.05373251e-02 -4.28586617e-03 3.22168833e+00] [-1.05373203e-02 9.99944481e-01 2.37115110e-05 -1.89795120e-01] [ 4.28587807e-03 2.14515677e-05 9.99990815e-01 -2.02930443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.558623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.19, Z:-0.20 [[ 9.99947018e-01 9.35911331e-03 -4.28586673e-03 3.25166386e+00] [-9.35909809e-03 9.99956202e-01 2.36084334e-05 -1.88039297e-01] [ 4.28589998e-03 1.65046646e-05 9.99990815e-01 -2.02685626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5886238530000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.19, Z:-0.20 [[ 9.99962145e-01 7.57236872e-03 -4.28586730e-03 3.28165114e+00] [-7.57233752e-03 9.99971329e-01 2.35049756e-05 -1.85641964e-01] [ 4.28592241e-03 8.94994800e-06 9.99990815e-01 -2.01249684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.618623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.18, Z:-0.20 [[ 9.99967074e-01 6.89078411e-03 -4.28586787e-03 3.30988171e+00] [-6.89074711e-03 9.99976258e-01 2.34001647e-05 -1.84672993e-01] [ 4.28592736e-03 6.13343744e-06 9.99990815e-01 -2.01433534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.18, Z:-0.20 [[ 9.99970144e-01 6.42973359e-03 -4.28586872e-03 3.33953208e+00] [-6.42969302e-03 9.99979329e-01 2.32438155e-05 -1.83422479e-01] [ 4.28592958e-03 4.31369866e-06 9.99990815e-01 -2.01616030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.18, Z:-0.20 [[ 9.99973919e-01 5.81312997e-03 -4.28586928e-03 3.36853455e+00] [-5.81308418e-03 9.99983104e-01 2.31398784e-05 -1.82001324e-01] [ 4.28593138e-03 1.77484399e-06 9.99990815e-01 -2.01664800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.18, Z:-0.20 [[ 9.99975426e-01 5.54786358e-03 -4.28587041e-03 3.39739981e+00] [-5.54781626e-03 9.99984610e-01 2.29283968e-05 -1.80961798e-01] [ 4.28593166e-03 8.49388210e-07 9.99990815e-01 -2.02674493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.18, Z:-0.20 [[ 9.99978659e-01 4.93073451e-03 -4.28587125e-03 3.42588895e+00] [-4.93068221e-03 9.99987844e-01 2.27700902e-05 -1.79394891e-01] [ 4.28593143e-03 -1.63733515e-06 9.99990815e-01 -2.03546656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.18, Z:-0.20 [[ 9.99978151e-01 5.03274865e-03 -4.28587237e-03 3.45491097e+00] [-5.03269819e-03 9.99987336e-01 2.25576221e-05 -1.78456833e-01] [ 4.28593162e-03 -9.87627056e-07 9.99990815e-01 -2.04449028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7986238530000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.18, Z:-0.21 [[ 9.99981689e-01 4.27229502e-03 -4.28587320e-03 3.48347993e+00] [-4.27223825e-03 9.99990874e-01 2.23993154e-05 -1.75612769e-01] [ 4.28592978e-03 -4.08863382e-06 9.99990815e-01 -2.06063007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.828623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.17, Z:-0.21 [[ 9.99984252e-01 3.62306748e-03 -4.28587429e-03 3.51207095e+00] [-3.62300566e-03 9.99993437e-01 2.21885056e-05 -1.74421180e-01] [ 4.28592655e-03 -6.66040937e-06 9.99990815e-01 -2.06487098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.858623853000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.17, Z:-0.20 [[ 9.99985634e-01 3.21919311e-03 -4.28587537e-03 3.53977584e+00] [-3.21912849e-03 9.99994818e-01 2.19776958e-05 -1.74399470e-01] [ 4.28592391e-03 -8.18059655e-06 9.99990815e-01 -2.04350650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.17, Z:-0.21 [[ 9.99988035e-01 2.35833190e-03 -4.28587670e-03 3.56755028e+00] [-2.35826049e-03 9.99997219e-01 2.17155530e-05 -1.71988231e-01] [ 4.28591599e-03 -1.16080795e-05 9.99990815e-01 -2.06605140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.918623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.17, Z:-0.21 [[ 9.99990151e-01 1.15312839e-03 -4.28587799e-03 3.59603093e+00] [-1.15304701e-03 9.99999335e-01 2.14573632e-05 -1.70505102e-01] [ 4.28589989e-03 -1.65153330e-05 9.99990815e-01 -2.05648215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.948623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.17, Z:-0.20 [[ 9.99990815e-01 -2.43673042e-05 -4.28587876e-03 3.62429960e+00] [ 2.44588336e-05 9.99999999e-01 2.13036465e-05 -1.68747582e-01] [ 4.28587824e-03 -2.14082785e-05 9.99990815e-01 -2.03818684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.17, Z:-0.20 [[ 9.99990548e-01 -7.31938443e-04 -4.28588002e-03 3.65279857e+00] [ 7.32035372e-04 9.99999732e-01 2.10473440e-05 -1.67844674e-01] [ 4.28586346e-03 -2.41845608e-05 9.99990815e-01 -2.02410011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.17, Z:-0.20 [[ 9.99989749e-01 -1.46038059e-03 -4.28588102e-03 3.68039714e+00] [ 1.46048333e-03 9.99998933e-01 2.08416186e-05 -1.66602611e-01] [ 4.28584601e-03 -2.71008628e-05 9.99990815e-01 -2.02419958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038623852999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.17, Z:-0.20 [[ 9.99988632e-01 -2.08984791e-03 -4.28588224e-03 3.70963132e+00] [ 2.08995534e-03 9.99997816e-01 2.05861604e-05 -1.65411317e-01] [ 4.28582986e-03 -2.95432288e-05 9.99990815e-01 -2.00724582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.16, Z:-0.20 [[ 9.99985086e-01 -3.38509022e-03 -4.28588323e-03 3.73853330e+00] [ 3.38520865e-03 9.99994270e-01 2.03781464e-05 -1.64519612e-01] [ 4.28578969e-03 -3.48864515e-05 9.99990815e-01 -1.99149987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.16, Z:-0.20 [[ 9.99983741e-01 -3.76163588e-03 -4.28588423e-03 3.76556280e+00] [ 3.76175686e-03 9.99992924e-01 2.01663412e-05 -1.63767123e-01] [ 4.28577805e-03 -3.62884677e-05 9.99990815e-01 -1.99323998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128623853 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.16, Z:-0.20 [[ 9.99980959e-01 -4.43995268e-03 -4.28588593e-03 3.79345408e+00] [ 4.44007830e-03 9.99990143e-01 1.97976332e-05 -1.63287584e-01] [ 4.28575578e-03 -3.88269254e-05 9.99990815e-01 -1.96307430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.16, Z:-0.20 [[ 9.99982695e-01 -4.02990151e-03 -4.28588964e-03 3.82117875e+00] [ 4.03001978e-03 9.99991879e-01 1.89587259e-05 -1.60694134e-01] [ 4.28577844e-03 -3.62306178e-05 9.99990815e-01 -2.00168713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.16, Z:-0.20 [[ 9.99981540e-01 -4.30696504e-03 -4.28589320e-03 3.84910775e+00] [ 4.30708225e-03 9.99990724e-01 1.81173143e-05 -1.61453200e-01] [ 4.28577541e-03 -3.65766744e-05 9.99990815e-01 -1.99009587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.16, Z:-0.20 [[ 9.99982816e-01 -3.99995789e-03 -4.28589429e-03 3.87690645e+00] [ 4.00007116e-03 9.99992000e-01 1.78561467e-05 -1.60637032e-01] [ 4.28578858e-03 -3.49997220e-05 9.99990815e-01 -2.02637200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.16, Z:-0.20 [[ 9.99981694e-01 -4.27126983e-03 -4.28589756e-03 3.90509581e+00] [ 4.27138206e-03 9.99990877e-01 1.70322917e-05 -1.59901562e-01] [ 4.28578571e-03 -3.53386858e-05 9.99990815e-01 -2.03904006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.16, Z:-0.20 [[ 9.99980202e-01 -4.60724941e-03 -4.28590073e-03 3.93338214e+00] [ 4.60736113e-03 9.99989386e-01 1.61938135e-05 -1.60124834e-01] [ 4.28578063e-03 -3.59401853e-05 9.99990815e-01 -2.04183333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.16, Z:-0.20 [[ 9.99976542e-01 -5.34285400e-03 -4.28590170e-03 3.96088004e+00] [ 5.34297136e-03 9.99985726e-01 1.59335400e-05 -1.61517460e-01] [ 4.28575539e-03 -3.88326163e-05 9.99990815e-01 -2.01437710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.16, Z:-0.20 [[ 9.99972854e-01 -5.99351696e-03 -4.28590460e-03 3.98920463e+00] [ 5.99363676e-03 9.99982038e-01 1.51095448e-05 -1.62007082e-01] [ 4.28573706e-03 -4.07972900e-05 9.99990815e-01 -2.01880862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368623852999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.16, Z:-0.20 [[ 9.99970281e-01 -6.40850041e-03 -4.28590550e-03 4.01757993e+00] [ 6.40862292e-03 9.99979464e-01 1.48502336e-05 -1.62660702e-01] [ 4.28572232e-03 -4.23165445e-05 9.99990815e-01 -2.01292101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.16, Z:-0.20 [[ 9.99969000e-01 -6.60530320e-03 -4.28590826e-03 4.04609005e+00] [ 6.60542389e-03 9.99978184e-01 1.40060893e-05 -1.62567268e-01] [ 4.28572224e-03 -4.23158959e-05 9.99990815e-01 -2.01170026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.16, Z:-0.20 [[ 9.99971238e-01 -6.25739609e-03 -4.28591085e-03 4.07335337e+00] [ 6.25750998e-03 9.99980422e-01 1.31625923e-05 -1.63794229e-01] [ 4.28574458e-03 -3.99813436e-05 9.99990815e-01 -2.02125489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.17, Z:-0.20 [[ 9.99977266e-01 -5.20559491e-03 -4.28591194e-03 4.10112815e+00] [ 5.20569757e-03 9.99986450e-01 1.27961588e-05 -1.66932636e-01] [ 4.28578726e-03 -3.51070293e-05 9.99990815e-01 -1.99131746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.17, Z:-0.20 [[ 9.99985260e-01 -3.33334674e-03 -4.28591430e-03 4.12899780e+00] [ 3.33342858e-03 9.99994444e-01 1.19521590e-05 -1.66560334e-01] [ 4.28585065e-03 -2.62387720e-05 9.99990815e-01 -2.00922003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.17, Z:-0.20 [[ 9.99989476e-01 -1.63691409e-03 -4.28591501e-03 4.15656416e+00] [ 1.63697923e-03 9.99998660e-01 1.16905963e-05 -1.66345301e-01] [ 4.28589013e-03 -1.87064271e-05 9.99990815e-01 -2.00028663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.17, Z:-0.20 [[ 9.99986869e-01 2.80951823e-03 -4.28591715e-03 4.18470438e+00] [-2.80949754e-03 9.99996053e-01 1.08468070e-05 -1.65112772e-01] [ 4.28593071e-03 1.19460912e-06 9.99990815e-01 -1.99224450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.16, Z:-0.20 [[ 9.99978908e-01 4.88008563e-03 -4.28591815e-03 4.21343733e+00] [-4.88008572e-03 9.99988092e-01 1.04362040e-05 -1.64101069e-01] [ 4.28591804e-03 1.04796641e-05 9.99990815e-01 -1.98749293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.16, Z:-0.20 [[ 9.99968291e-01 6.71178601e-03 -4.28591978e-03 4.24193293e+00] [-6.71180601e-03 9.99977476e-01 9.71689924e-06 -1.63044158e-01] [ 4.28588846e-03 1.90496710e-05 9.99990815e-01 -1.98487547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.16, Z:-0.20 [[ 9.99937406e-01 1.03351278e-02 -4.28592012e-03 4.27113272e+00] [-1.03351818e-02 9.99946591e-01 9.56354012e-06 -1.60866751e-01] [ 4.28579005e-03 3.47328220e-05 9.99990815e-01 -1.98440363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.16, Z:-0.20 [[ 9.99919074e-01 1.19781238e-02 -4.28592160e-03 4.30052203e+00] [-1.19781959e-02 9.99928259e-01 8.84686056e-06 -1.60282508e-01] [ 4.28572009e-03 4.24914640e-05 9.99990815e-01 -1.98189821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698623852999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.16, Z:-0.20 [[ 9.99884544e-01 1.45783951e-02 -4.28592181e-03 4.32938626e+00] [-1.45784915e-02 9.99893728e-01 8.74191283e-06 -1.59373171e-01] [ 4.28559378e-03 5.37413712e-05 9.99990815e-01 -1.98233228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.16, Z:-0.20 [[ 9.99869582e-01 1.55707904e-02 -4.28592206e-03 4.35937963e+00] [-1.55708965e-02 9.99878766e-01 8.61756006e-06 -1.57869227e-01] [ 4.28553665e-03 5.81192126e-05 9.99990815e-01 -1.98090815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.16, Z:-0.20 [[ 9.99854630e-01 1.65029950e-02 -4.28592216e-03 4.38940713e+00] [-1.65031099e-02 9.99863814e-01 8.56731022e-06 -1.55728314e-01] [ 4.28547987e-03 6.21649795e-05 9.99990815e-01 -1.97530703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.15, Z:-0.20 [[ 9.99842350e-01 1.72309864e-02 -4.28592236e-03 4.41906518e+00] [-1.72311084e-02 9.99851533e-01 8.46773583e-06 -1.53412699e-01] [ 4.28543195e-03 6.53847920e-05 9.99990815e-01 -1.97105797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.15, Z:-0.20 [[ 9.99821768e-01 1.83865047e-02 -4.28592256e-03 4.44921101e+00] [-1.83866377e-02 9.99830951e-01 8.36730422e-06 -1.50285004e-01] [ 4.28535187e-03 7.04378925e-05 9.99990815e-01 -1.97356218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.15, Z:-0.20 [[ 9.99819734e-01 1.84967883e-02 -4.28592275e-03 4.47946936e+00] [-1.84969228e-02 9.99828917e-01 8.26571855e-06 -1.48588079e-01] [ 4.28534239e-03 7.10121536e-05 9.99990815e-01 -1.97176106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.15, Z:-0.20 [[ 9.99818744e-01 1.85501951e-02 -4.28592275e-03 4.50934945e+00] [-1.85503301e-02 9.99827928e-01 8.26571855e-06 -1.46891571e-01] [ 4.28533859e-03 7.12410615e-05 9.99990815e-01 -1.97133888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.14, Z:-0.20 [[ 9.99825613e-01 1.81761948e-02 -4.28592285e-03 4.53873318e+00] [-1.81763266e-02 9.99834797e-01 8.21314310e-06 -1.44097191e-01] [ 4.28536409e-03 6.96906225e-05 9.99990815e-01 -1.95331279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.14, Z:-0.20 [[ 9.99824833e-01 1.82190854e-02 -4.28592295e-03 4.56853736e+00] [-1.82192178e-02 9.99834016e-01 8.16314812e-06 -1.41583204e-01] [ 4.28536028e-03 6.99244454e-05 9.99990815e-01 -1.97498725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.14, Z:-0.20 [[ 9.99842295e-01 1.72341596e-02 -4.28592314e-03 4.59775547e+00] [-1.72342833e-02 9.99851479e-01 8.06137135e-06 -1.36169764e-01] [ 4.28542552e-03 6.58047137e-05 9.99990815e-01 -1.97663432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.13, Z:-0.20 [[ 9.99853094e-01 1.65958123e-02 -4.28592333e-03 4.62682264e+00] [-1.65959307e-02 9.99862278e-01 7.95838702e-06 -1.34133032e-01] [ 4.28546514e-03 6.31716685e-05 9.99990815e-01 -1.97302432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.13, Z:-0.20 [[ 9.99867265e-01 1.57188990e-02 -4.28592322e-03 4.65612414e+00] [-1.57190091e-02 9.99876449e-01 8.01548288e-06 -1.32000720e-01] [ 4.28551969e-03 5.93560471e-05 9.99990815e-01 -1.96410067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.13, Z:-0.19 [[ 9.99882230e-01 1.47362205e-02 -4.28592342e-03 4.68453757e+00] [-1.47363219e-02 9.99891414e-01 7.91208964e-06 -1.30090503e-01] [ 4.28557462e-03 5.52475894e-05 9.99990815e-01 -1.93984764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.12, Z:-0.20 [[ 9.99907461e-01 1.29112268e-02 -4.28592369e-03 4.71301328e+00] [-1.29113122e-02 9.99916646e-01 7.75754993e-06 -1.24194163e-01] [ 4.28566660e-03 4.75800666e-05 9.99990815e-01 -1.96424517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118623852999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.12, Z:-0.20 [[ 9.99921223e-01 1.17973624e-02 -4.28592397e-03 4.74272735e+00] [-1.17974381e-02 9.99930408e-01 7.60497169e-06 -1.21332272e-01] [ 4.28571542e-03 4.29585503e-05 9.99990815e-01 -1.96470598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.12, Z:-0.20 [[ 9.99933495e-01 1.07068751e-02 -4.28592414e-03 4.77212851e+00] [-1.07069412e-02 9.99942679e-01 7.50445006e-06 -1.18054965e-01] [ 4.28575882e-03 3.83851869e-05 9.99990815e-01 -1.95957537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.11, Z:-0.20 [[ 9.99955574e-01 8.39528698e-03 -4.28592432e-03 4.80101430e+00] [-8.39533237e-03 9.99964759e-01 7.40095438e-06 -1.11458781e-01] [ 4.28583541e-03 2.85811336e-05 9.99990815e-01 -1.97833600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.11, Z:-0.20 [[ 9.99965454e-01 7.12198014e-03 -4.28592458e-03 4.82938182e+00] [-7.12201450e-03 9.99974638e-01 7.24599828e-06 -1.08719036e-01] [ 4.28586749e-03 2.32786691e-05 9.99990815e-01 -1.98060470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.11, Z:-0.20 [[ 9.99974051e-01 5.79043114e-03 -4.28592492e-03 4.85837113e+00] [-5.79045414e-03 9.99983235e-01 7.04269387e-06 -1.05817386e-01] [ 4.28589384e-03 1.77749406e-05 9.99990815e-01 -1.97835372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.10, Z:-0.20 [[ 9.99985441e-01 3.27845107e-03 -4.28592525e-03 4.88636147e+00] [-3.27845188e-03 9.99994626e-01 6.83571063e-06 -9.91188298e-02] [ 4.28592462e-03 7.21558859e-06 9.99990815e-01 -1.99129210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.10, Z:-0.20 [[ 9.99988826e-01 1.99483965e-03 -4.28592564e-03 4.91382737e+00] [-1.99482978e-03 9.99998010e-01 6.57861074e-06 -9.61490589e-02] [ 4.28593024e-03 1.97115488e-06 9.99990815e-01 -1.99518828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.09, Z:-0.20 [[ 9.99990759e-01 3.35779781e-04 -4.28592604e-03 4.94228673e+00] [-3.35755834e-04 9.99999944e-01 6.30690628e-06 -9.31369014e-02] [ 4.28592792e-03 -4.86782332e-06 9.99990815e-01 -1.98806918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.09, Z:-0.20 [[ 9.99987218e-01 -2.68216491e-03 -4.28592633e-03 4.97099953e+00] [ 2.68221571e-03 9.99996403e-01 6.10274772e-06 -8.67996408e-02] [ 4.28589455e-03 -1.75984486e-05 9.99990815e-01 -1.98401750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.08, Z:-0.20 [[ 9.99981422e-01 -4.33424075e-03 -4.28592662e-03 4.99974992e+00] [ 4.33430583e-03 9.99990607e-01 5.89638021e-06 -8.35907838e-02] [ 4.28586080e-03 -2.44727874e-05 9.99990815e-01 -1.98130067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.08, Z:-0.20 [[ 9.99970537e-01 -6.36834730e-03 -4.28592689e-03 5.02814408e+00] [ 6.36843017e-03 9.99979721e-01 5.68805175e-06 -8.04419747e-02] [ 4.28580376e-03 -3.29825103e-05 9.99990815e-01 -1.97601643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448623852999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.08, Z:-0.20 [[ 9.99940907e-01 -9.99069944e-03 -4.28592786e-03 5.05606209e+00] [ 9.99081192e-03 9.99950091e-01 4.83249129e-06 -7.58840641e-02] [ 4.28566567e-03 -4.76521048e-05 9.99990815e-01 -2.00944427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.07, Z:-0.20 [[ 9.99917517e-01 -1.21074045e-02 -4.28592814e-03 5.08420447e+00] [ 1.21075353e-02 9.99926701e-01 4.56654030e-06 -7.38291621e-02] [ 4.28555870e-03 -5.64581899e-05 9.99990815e-01 -2.01493100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.07, Z:-0.20 [[ 9.99888494e-01 -1.43048995e-02 -4.28592884e-03 5.11257903e+00] [ 1.43050470e-02 9.99897678e-01 3.77383233e-06 -7.18134058e-02] [ 4.28543631e-03 -6.50838251e-05 9.99990815e-01 -2.00326709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.07, Z:-0.20 [[ 9.99830714e-01 -1.78934222e-02 -4.28592942e-03 5.13923640e+00] [ 1.78935990e-02 9.99839897e-01 2.91237306e-06 -6.79150945e-02] [ 4.28519112e-03 -7.96025824e-05 9.99990815e-01 -2.02842717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.07, Z:-0.20 [[ 9.99798525e-01 -1.96097201e-02 -4.28592964e-03 5.16755416e+00] [ 1.96099111e-02 9.99807707e-01 2.53945963e-06 -6.60544717e-02] [ 4.28505569e-03 -8.65856472e-05 9.99990815e-01 -2.02542107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.06, Z:-0.20 [[ 9.99773190e-01 -2.08614176e-02 -4.28592997e-03 5.19594092e+00] [ 2.08616166e-02 9.99782373e-01 1.73044951e-06 -6.41051568e-02] [ 4.28496114e-03 -9.11414849e-05 9.99990815e-01 -2.01352225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.06, Z:-0.20 [[ 9.99755086e-01 -2.17117173e-02 -4.28593015e-03 5.22329842e+00] [ 2.17119206e-02 9.99764268e-01 9.13672390e-07 -6.23037955e-02] [ 4.28489998e-03 -9.39692237e-05 9.99990815e-01 -2.01218364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.06, Z:-0.20 [[ 9.99732651e-01 -2.27212963e-02 -4.28593018e-03 5.25056905e+00] [ 2.27215078e-02 9.99741833e-01 6.59457493e-07 -5.93380032e-02] [ 4.28480872e-03 -9.80420773e-05 9.99990815e-01 -2.01104675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.06, Z:-0.20 [[ 9.99725065e-01 -2.30526798e-02 -4.28593021e-03 5.27825050e+00] [ 2.30528929e-02 9.99734247e-01 3.11337872e-07 -5.87513496e-02] [ 4.28478403e-03 -9.91143422e-05 9.99990815e-01 -2.00087728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.06, Z:-0.20 [[ 9.99723863e-01 -2.31047304e-02 -4.28593011e-03 5.30559979e+00] [ 2.31049403e-02 9.99733045e-01 -5.23041488e-07 -5.80803818e-02] [ 4.28479804e-03 -9.85032624e-05 9.99990815e-01 -2.00572404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.06, Z:-0.20 [[ 9.99734616e-01 -2.26346575e-02 -4.28593003e-03 5.33348069e+00] [ 2.26348616e-02 9.99743799e-01 -8.84623761e-07 -5.59885218e-02] [ 4.28485200e-03 -9.61270442e-05 9.99990815e-01 -2.00855478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.05, Z:-0.20 [[ 9.99741006e-01 -2.23506452e-02 -4.28592970e-03 5.36063116e+00] [ 2.23508432e-02 9.99750189e-01 -1.70890146e-06 -5.49081296e-02] [ 4.28489723e-03 -9.40856838e-05 9.99990815e-01 -2.02040219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.05, Z:-0.20 [[ 9.99744979e-01 -2.21722208e-02 -4.28592953e-03 5.38889586e+00] [ 2.21724156e-02 9.99754162e-01 -2.06806663e-06 -5.32736373e-02] [ 4.28492174e-03 -9.29618717e-05 9.99990815e-01 -1.99453920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.05, Z:-0.20 [[ 9.99742149e-01 -2.22994791e-02 -4.28592895e-03 5.41610170e+00] [ 2.22996714e-02 9.99751331e-01 -2.92332818e-06 -5.28905154e-02] [ 4.28492836e-03 -9.26522327e-05 9.99990815e-01 -2.01836784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.05, Z:-0.20 [[ 9.99732303e-01 -2.27366183e-02 -4.28592866e-03 5.44377282e+00] [ 2.27368130e-02 9.99741485e-01 -3.29613223e-06 -5.23609867e-02] [ 4.28489563e-03 -9.41531086e-05 9.99990815e-01 -2.00975491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.05, Z:-0.20 [[ 9.99714406e-01 -2.35103716e-02 -4.28592787e-03 5.47184009e+00] [ 2.35105699e-02 9.99723588e-01 -4.11650451e-06 -5.28409945e-02] [ 4.28483997e-03 -9.66492779e-05 9.99990815e-01 -1.99870223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.05, Z:-0.20 [[ 9.99701637e-01 -2.40471945e-02 -4.28592690e-03 5.49980456e+00] [ 2.40473942e-02 9.99710820e-01 -4.95477945e-06 -5.39184121e-02] [ 4.28480665e-03 -9.81120725e-05 9.99990815e-01 -2.00927794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.05, Z:-0.20 [[ 9.99691210e-01 -2.44768481e-02 -4.28592659e-03 5.52772909e+00] [ 2.44770506e-02 9.99700392e-01 -5.21448027e-06 -5.46573011e-02] [ 4.28477012e-03 -9.96939717e-05 9.99990815e-01 -1.99329447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.05, Z:-0.20 [[ 9.99686068e-01 -2.46859713e-02 -4.28592553e-03 5.55537391e+00] [ 2.46861725e-02 9.99695250e-01 -5.97174236e-06 -5.47800850e-02] [ 4.28476682e-03 -9.98332292e-05 9.99990815e-01 -1.98945090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.06, Z:-0.20 [[ 9.99675959e-01 -2.50919836e-02 -4.28592434e-03 5.58306121e+00] [ 2.50921852e-02 9.99685142e-01 -6.72848297e-06 -5.61430628e-02] [ 4.28474372e-03 -1.00816905e-04 9.99990815e-01 -1.98292332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.06, Z:-0.20 [[ 9.99673326e-01 -2.51966533e-02 -4.28592396e-03 5.61044330e+00] [ 2.51968549e-02 9.99682509e-01 -6.96319299e-06 -5.73436230e-02] [ 4.28473867e-03 -1.01030886e-04 9.99990815e-01 -2.00885585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.06, Z:-0.20 [[ 9.99666510e-01 -2.54656490e-02 -4.28592341e-03 5.63835516e+00] [ 2.54658516e-02 9.99675693e-01 -7.28898442e-06 -6.01357799e-02] [ 4.28471907e-03 -1.01858136e-04 9.99990815e-01 -1.99639251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.06, Z:-0.20 [[ 9.99664992e-01 -2.55251791e-02 -4.28592185e-03 5.66670573e+00] [ 2.55253788e-02 9.99674174e-01 -8.11133456e-06 -6.07940655e-02] [ 4.28473243e-03 -1.01291162e-04 9.99990815e-01 -1.99791556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.06, Z:-0.20 [[ 9.99661415e-01 -2.56648684e-02 -4.28592014e-03 5.69354559e+00] [ 2.56650658e-02 9.99670598e-01 -8.93348395e-06 -6.18989613e-02] [ 4.28473763e-03 -1.01067963e-04 9.99990815e-01 -2.00640115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.06, Z:-0.20 [[ 9.99651500e-01 -2.60482155e-02 -4.28591937e-03 5.72190075e+00] [ 2.60484149e-02 9.99660682e-01 -9.28983956e-06 -6.32121346e-02] [ 4.28470706e-03 -1.02354804e-04 9.99990815e-01 -2.00102905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198623852999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.07, Z:-0.20 [[ 9.99626010e-01 -2.70087161e-02 -4.28591743e-03 5.74846267e+00] [ 2.70089209e-02 9.99635193e-01 -1.01123271e-05 -6.69891544e-02] [ 4.28462701e-03 -1.05649459e-04 9.99990815e-01 -2.00204383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.07, Z:-0.20 [[ 9.99605526e-01 -2.77565060e-02 -4.28591655e-03 5.77673461e+00] [ 2.77567161e-02 9.99614708e-01 -1.04708354e-05 -6.96425670e-02] [ 4.28455586e-03 -1.08496264e-04 9.99990815e-01 -2.00604318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.07, Z:-0.20 [[ 9.99573754e-01 -2.88780483e-02 -4.28591441e-03 5.80445553e+00] [ 2.88782652e-02 9.99582936e-01 -1.12827698e-05 -7.45027565e-02] [ 4.28445274e-03 -1.12491812e-04 9.99990815e-01 -2.00968310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.08, Z:-0.20 [[ 9.99570598e-01 -2.89870880e-02 -4.28591213e-03 5.83287815e+00] [ 2.89873024e-02 9.99579780e-01 -1.20914489e-05 -7.60418333e-02] [ 4.28446160e-03 -1.12150774e-04 9.99990815e-01 -2.00229753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.08, Z:-0.20 [[ 9.99565000e-01 -2.91794727e-02 -4.28590965e-03 5.86137006e+00] [ 2.91796853e-02 9.99574182e-01 -1.29153063e-05 -7.57727446e-02] [ 4.28446149e-03 -1.12151807e-04 9.99990815e-01 -2.00107681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.08, Z:-0.20 [[ 9.99582342e-01 -2.85792208e-02 -4.28590700e-03 5.88815931e+00] [ 2.85794245e-02 9.99591525e-01 -1.37401982e-05 -7.76197569e-02] [ 4.28454900e-03 -1.08754296e-04 9.99990815e-01 -2.00851978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.08, Z:-0.20 [[ 9.99650029e-01 -2.61045907e-02 -4.28590583e-03 5.91590148e+00] [ 2.61047700e-02 9.99659212e-01 -1.40986045e-05 -8.11335976e-02] [ 4.28481328e-03 -9.77889154e-05 9.99990815e-01 -2.00420242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.08, Z:-0.20 [[ 9.99691835e-01 -2.44513151e-02 -4.28590320e-03 5.94289497e+00] [ 2.44514760e-02 9.99701018e-01 -1.48567010e-05 -8.29802605e-02] [ 4.28498506e-03 -8.99445367e-05 9.99990815e-01 -2.00784989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.08, Z:-0.20 [[ 9.99729651e-01 -2.28529039e-02 -4.28590194e-03 5.97062059e+00] [ 2.28530486e-02 9.99738835e-01 -1.52101448e-05 -8.46395814e-02] [ 4.28513021e-03 -8.27398926e-05 9.99990815e-01 -2.01301713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.09, Z:-0.20 [[ 9.99806796e-01 -1.91833715e-02 -4.28589895e-03 5.99748185e+00] [ 1.91834791e-02 9.99815980e-01 -1.60124485e-05 -8.80312397e-02] [ 4.28541743e-03 -6.62090979e-05 9.99990815e-01 -2.01269237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.09, Z:-0.20 [[ 9.99837100e-01 -1.75329312e-02 -4.28589681e-03 6.02527022e+00] [ 1.75330212e-02 9.99846285e-01 -1.65650884e-05 -8.90910309e-02] [ 4.28552844e-03 -5.85823298e-05 9.99990815e-01 -2.01185885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.09, Z:-0.20 [[ 9.99888207e-01 -1.43249923e-02 -4.28589358e-03 6.05426977e+00] [ 1.43250494e-02 9.99897391e-01 -1.73620127e-05 -9.29297426e-02] [ 4.28570252e-03 -4.40355656e-05 9.99990815e-01 -1.98380952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.09, Z:-0.20 [[ 9.99907080e-01 -1.29407183e-02 -4.28589054e-03 6.08202125e+00] [ 1.29407597e-02 9.99916265e-01 -1.80823003e-05 -9.47549892e-02] [ 4.28576566e-03 -3.73820594e-05 9.99990815e-01 -1.98883753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.10, Z:-0.20 [[ 9.99923031e-01 -1.16431531e-02 -4.28588945e-03 6.10989642e+00] [ 1.16431815e-02 9.99932216e-01 -1.83388378e-05 -9.56936667e-02] [ 4.28581245e-03 -3.15639623e-05 9.99990815e-01 -1.96448532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.10, Z:-0.20 [[ 9.99935514e-01 -1.05166355e-02 -4.28588578e-03 6.13774954e+00] [ 1.05166500e-02 9.99944698e-01 -1.91589270e-05 -9.66617732e-02] [ 4.28585025e-03 -2.59154692e-05 9.99990815e-01 -1.95395495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.10, Z:-0.19 [[ 9.99957256e-01 -8.19246630e-03 -4.28588462e-03 6.16580869e+00] [ 8.19245834e-03 9.99966441e-01 -1.94144572e-05 -1.00625203e-01] [ 4.28589984e-03 -1.56983038e-05 9.99990815e-01 -1.91615442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.10, Z:-0.19 [[ 9.99970903e-01 -6.31061514e-03 -4.28588346e-03 6.19367096e+00] [ 6.31058880e-03 9.99980088e-01 -1.96675931e-05 -1.01542665e-01] [ 4.28592223e-03 -7.37942734e-06 9.99990815e-01 -1.93553651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.10, Z:-0.19 [[ 9.99980318e-01 -4.58207439e-03 -4.28587962e-03 6.22157999e+00] [ 4.58202873e-03 9.99989502e-01 -2.04711980e-05 -1.01891384e-01] [ 4.28592843e-03 8.32771515e-07 9.99990815e-01 -1.93594470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.10, Z:-0.19 [[ 9.99990799e-01 1.84840975e-04 -4.28587565e-03 6.25002836e+00] [-1.84933843e-04 9.99999983e-01 -2.12722558e-05 -1.02287440e-01] [ 4.28587164e-03 2.20646635e-05 9.99990815e-01 -1.92722402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.10, Z:-0.19 [[ 9.99987244e-01 2.67273370e-03 -4.28587138e-03 6.27815246e+00] [-2.67285296e-03 9.99996428e-01 -2.20992815e-05 -1.02120783e-01] [ 4.28579701e-03 3.35545036e-05 9.99990815e-01 -1.93241229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.10, Z:-0.19 [[ 9.99964600e-01 7.24083540e-03 -4.28587005e-03 6.30695957e+00] [-7.24099772e-03 9.99973783e-01 -2.23552052e-05 -1.01318244e-01] [ 4.28559581e-03 5.33883890e-05 9.99990815e-01 -1.94333490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.10, Z:-0.19 [[ 9.99949798e-01 9.05723135e-03 -4.28586624e-03 6.33527176e+00] [-9.05741337e-03 9.99958981e-01 -2.30629410e-05 -1.00560144e-01] [ 4.28548155e-03 6.18806454e-05 9.99990815e-01 -1.94703207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.10, Z:-0.19 [[ 9.99936727e-01 1.04006071e-02 -4.28586488e-03 6.36459367e+00] [-1.04008026e-02 9.99945910e-01 -2.33129339e-05 -9.94223386e-02] [ 4.28539059e-03 6.78878932e-05 9.99990815e-01 -1.94711753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.10, Z:-0.20 [[ 9.99914755e-01 1.23334842e-02 -4.28586406e-03 6.39312343e+00] [-1.23336980e-02 9.99923937e-01 -2.34622030e-05 -9.80751226e-02] [ 4.28524869e-03 7.63207560e-05 9.99990815e-01 -1.95516470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.10, Z:-0.20 [[ 9.99915919e-01 1.22387069e-02 -4.28586296e-03 6.42201567e+00] [-1.22389207e-02 9.99925101e-01 -2.36611779e-05 -9.78135775e-02] [ 4.28525237e-03 7.61135255e-05 9.99990815e-01 -1.95041371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.10, Z:-0.19 [[ 9.99919107e-01 1.19754191e-02 -4.28586214e-03 6.45170935e+00] [-1.19756311e-02 9.99928289e-01 -2.38099264e-05 -9.76617875e-02] [ 4.28526966e-03 7.51339041e-05 9.99990815e-01 -1.94090762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.10, Z:-0.19 [[ 9.99927257e-01 1.12743920e-02 -4.28586158e-03 6.48134235e+00] [-1.12745980e-02 9.99936439e-01 -2.39088577e-05 -9.73375462e-02] [ 4.28531961e-03 7.22284850e-05 9.99990815e-01 -1.93636098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.10, Z:-0.19 [[ 9.99951717e-01 8.84284773e-03 -4.28586103e-03 6.51103806e+00] [-8.84303184e-03 9.99960899e-01 -2.40071820e-05 -9.50369868e-02] [ 4.28548116e-03 6.19060284e-05 9.99990815e-01 -1.92302637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.09, Z:-0.19 [[ 9.99963906e-01 7.33604996e-03 -4.28586046e-03 6.53975054e+00] [-7.33622067e-03 9.99973089e-01 -2.41096655e-05 -9.40192254e-02] [ 4.28556825e-03 5.55508133e-05 9.99990815e-01 -1.93048060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.09, Z:-0.19 [[ 9.99973619e-01 5.86453036e-03 -4.28585989e-03 6.56870388e+00] [-5.86468798e-03 9.99982802e-01 -2.42103358e-05 -9.28202560e-02] [ 4.28564420e-03 4.93449281e-05 9.99990815e-01 -1.93100397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.09, Z:-0.20 [[ 9.99987047e-01 2.74522689e-03 -4.28585869e-03 6.59773523e+00] [-2.74535676e-03 9.99996231e-01 -2.44203701e-05 -9.07066377e-02] [ 4.28577550e-03 3.61862649e-05 9.99990815e-01 -1.96043223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.09, Z:-0.20 [[ 9.99990399e-01 9.13335978e-04 -4.28585779e-03 6.62533972e+00] [-9.13449702e-04 9.99999583e-01 -2.45774033e-05 -8.98364005e-02] [ 4.28583355e-03 2.84920828e-05 9.99990815e-01 -1.97487717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.09, Z:-0.20 [[ 9.99990436e-01 -8.70976280e-04 -4.28585635e-03 6.65417641e+00] [ 8.70877877e-04 9.99999620e-01 -2.48260496e-05 -8.99746851e-02] [ 4.28587635e-03 2.10933547e-05 9.99990815e-01 -1.96996374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.09, Z:-0.20 [[ 9.99980273e-01 -4.59191010e-03 -4.28585522e-03 6.68248295e+00] [ 4.59184504e-03 9.99989457e-01 -2.50195340e-05 -8.96862460e-02] [ 4.28592492e-03 5.33905741e-06 9.99990815e-01 -1.96699324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.09, Z:-0.19 [[ 9.99967566e-01 -6.81901988e-03 -4.28585380e-03 6.71094233e+00] [ 6.81897424e-03 9.99976750e-01 -2.52602990e-05 -8.90557723e-02] [ 4.28592641e-03 -3.96564697e-06 9.99990815e-01 -1.94245532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.09, Z:-0.20 [[ 9.99950237e-01 -9.00857837e-03 -4.28584884e-03 6.73908113e+00] [ 9.00854935e-03 9.99959422e-01 -2.60759099e-05 -8.83990259e-02] [ 4.28590983e-03 -1.25346684e-05 9.99990815e-01 -1.95119308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.09, Z:-0.19 [[ 9.99900875e-01 -1.34116432e-02 -4.28584636e-03 6.76818207e+00] [ 1.34116529e-02 9.99910059e-01 -2.64772503e-05 -8.79079690e-02] [ 4.28581599e-03 -3.10056582e-05 9.99990815e-01 -1.93658906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.09, Z:-0.19 [[ 9.99871859e-01 -1.54239150e-02 -4.28584215e-03 6.79620387e+00] [ 1.54239403e-02 9.99881044e-01 -2.71422369e-05 -8.79834202e-02] [ 4.28575096e-03 -3.89658146e-05 9.99990815e-01 -1.90872500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.09, Z:-0.19 [[ 9.99849590e-01 -1.68056526e-02 -4.28583722e-03 6.82382108e+00] [ 1.68056874e-02 9.99858774e-01 -2.78996007e-05 -8.77650535e-02] [ 4.28570082e-03 -4.41310361e-05 9.99990815e-01 -1.92246415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.09, Z:-0.19 [[ 9.99808015e-01 -1.91197460e-02 -4.28583218e-03 6.85127158e+00] [ 1.91197988e-02 9.99817200e-01 -2.86538980e-05 -8.77663554e-02] [ 4.28559658e-03 -5.32958521e-05 9.99990815e-01 -1.92911461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.09, Z:-0.19 [[ 9.99782624e-01 -2.04043071e-02 -4.28583060e-03 6.87963667e+00] [ 2.04043707e-02 9.99791809e-01 -2.88880152e-05 -8.77701298e-02] [ 4.28552777e-03 -5.85679405e-05 9.99990815e-01 -1.91084260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.09, Z:-0.19 [[ 9.99769414e-01 -2.10416315e-02 -4.28582546e-03 6.90703392e+00] [ 2.10416978e-02 9.99778599e-01 -2.96312351e-05 -8.79917573e-02] [ 4.28550006e-03 -6.05566414e-05 9.99990815e-01 -1.94668850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.09, Z:-0.19 [[ 9.99738682e-01 -2.24543675e-02 -4.28582320e-03 6.93445065e+00] [ 2.24544454e-02 9.99747867e-01 -2.99541743e-05 -8.91468594e-02] [ 4.28541521e-03 -6.62894363e-05 9.99990815e-01 -1.94575182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.09, Z:-0.19 [[ 9.99731013e-01 -2.27932718e-02 -4.28582093e-03 6.96192401e+00] [ 2.27933514e-02 9.99740197e-01 -3.02764818e-05 -8.94616131e-02] [ 4.28539756e-03 -6.74198847e-05 9.99990815e-01 -1.94651408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.09, Z:-0.19 [[ 9.99722003e-01 -2.31851015e-02 -4.28581864e-03 6.98985783e+00] [ 2.31851833e-02 9.99731187e-01 -3.05959854e-05 -8.94197899e-02] [ 4.28537593e-03 -6.87800113e-05 9.99990815e-01 -1.93474772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.09, Z:-0.19 [[ 9.99727176e-01 -2.29609481e-02 -4.28581332e-03 7.01854072e+00] [ 2.29610247e-02 9.99736360e-01 -3.13238642e-05 -8.97282901e-02] [ 4.28540264e-03 -6.70913474e-05 9.99990815e-01 -1.92227268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.09, Z:-0.19 [[ 9.99749608e-01 -2.19625428e-02 -4.28580861e-03 7.04643885e+00] [ 2.19626076e-02 9.99758792e-01 -3.19559307e-05 -8.94171789e-02] [ 4.28547668e-03 -6.21796034e-05 9.99990815e-01 -1.91143774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.09, Z:-0.19 [[ 9.99774648e-01 -2.07914577e-02 -4.28580310e-03 7.07300501e+00] [ 2.07915086e-02 9.99783833e-01 -3.26786407e-05 -8.95191617e-02] [ 4.28555609e-03 -5.64370356e-05 9.99990815e-01 -1.91376139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.09, Z:-0.19 [[ 9.99799610e-01 -1.95543366e-02 -4.28580068e-03 7.10125028e+00] [ 1.95543748e-02 9.99808794e-01 -3.29932789e-05 -8.95860776e-02] [ 4.28562637e-03 -5.08194854e-05 9.99990815e-01 -1.91814353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.09, Z:-0.19 [[ 9.99855712e-01 -1.64373929e-02 -4.28579505e-03 7.12914041e+00] [ 1.64373994e-02 9.99864896e-01 -3.37091760e-05 -9.07946665e-02] [ 4.28577011e-03 -3.67430126e-05 9.99990815e-01 -1.85499243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.698623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.09, Z:-0.19 [[ 9.99878824e-01 -1.49655869e-02 -4.28578825e-03 7.15621845e+00] [ 1.49655762e-02 9.99888009e-01 -3.45527944e-05 -9.10050813e-02] [ 4.28582538e-03 -2.95906833e-05 9.99990815e-01 -1.86747212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.09, Z:-0.19 [[ 9.99902346e-01 -1.33015510e-02 -4.28578524e-03 7.18495657e+00] [ 1.33015235e-02 9.99911530e-01 -3.49213869e-05 -9.03657414e-02] [ 4.28587059e-03 -2.20894965e-05 9.99990815e-01 -1.88629215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.09, Z:-0.19 [[ 9.99935115e-01 -1.05545110e-02 -4.28578004e-03 7.21386054e+00] [ 1.05544555e-02 9.99944300e-01 -3.55489870e-05 -8.86174044e-02] [ 4.28591652e-03 -9.68739441e-06 9.99990815e-01 -1.86810022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.09, Z:-0.18 [[ 9.99942276e-01 -9.85273557e-03 -4.28577474e-03 7.24137811e+00] [ 9.85267101e-03 9.99951461e-01 -3.61767553e-05 -8.72843632e-02] [ 4.28592315e-03 -6.05166144e-06 9.99990815e-01 -1.82267376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.09, Z:-0.18 [[ 9.99949887e-01 -9.04737313e-03 -4.28576749e-03 7.26801870e+00] [ 9.04729758e-03 9.99959072e-01 -3.70157827e-05 -8.55444999e-02] [ 4.28592698e-03 -1.76068610e-06 9.99990815e-01 -1.83710918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.09, Z:-0.18 [[ 9.99949634e-01 -9.07535810e-03 -4.28576432e-03 7.29471864e+00] [ 9.07528125e-03 9.99958818e-01 -3.73793845e-05 -8.51178605e-02] [ 4.28592706e-03 -1.51701475e-06 9.99990815e-01 -1.83628724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.09, Z:-0.18 [[ 9.99946525e-01 -9.41167476e-03 -4.28576117e-03 7.32224956e+00] [ 9.41159947e-03 9.99955709e-01 -3.77366757e-05 -8.53251816e-02] [ 4.28592652e-03 -2.60120987e-06 9.99990815e-01 -1.83936464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.09, Z:-0.19 [[ 9.99937587e-01 -1.03176861e-02 -4.28575382e-03 7.34964474e+00] [ 1.03176157e-02 9.99946771e-01 -3.85542997e-05 -8.52478386e-02] [ 4.28592349e-03 -5.66686729e-06 9.99990815e-01 -1.85635263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.08, Z:-0.19 [[ 9.99933315e-01 -1.07236788e-02 -4.28575058e-03 7.37751777e+00] [ 1.07236106e-02 9.99942500e-01 -3.89107412e-05 -8.44358555e-02] [ 4.28592142e-03 -7.05057378e-06 9.99990815e-01 -1.85575897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.08, Z:-0.19 [[ 9.99929760e-01 -1.10502520e-02 -4.28574304e-03 7.40498688e+00] [ 1.10501833e-02 9.99938944e-01 -3.97245206e-05 -8.37237991e-02] [ 4.28592034e-03 -7.63651571e-06 9.99990815e-01 -1.86398461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.08, Z:-0.19 [[ 9.99928696e-01 -1.11461329e-02 -4.28573776e-03 7.43291802e+00] [ 1.11460626e-02 9.99937880e-01 -4.02867507e-05 -8.29484261e-02] [ 4.28592057e-03 -7.48522304e-06 9.99990815e-01 -1.86461716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.08, Z:-0.19 [[ 9.99944620e-01 -9.61198868e-03 -4.28572996e-03 7.46086856e+00] [ 9.61190081e-03 9.99953804e-01 -4.11001217e-05 -8.17283373e-02] [ 4.28592702e-03 -9.61656486e-08 9.99990815e-01 -1.86143834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.08, Z:-0.19 [[ 9.99951789e-01 -8.83469090e-03 -4.28572752e-03 7.48918756e+00] [ 8.83459481e-03 9.99960973e-01 -4.13523546e-05 -8.07438711e-02] [ 4.28592560e-03 3.48769485e-06 9.99990815e-01 -1.85571060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.08, Z:-0.19 [[ 9.99961125e-01 -7.70596567e-03 -4.28571960e-03 7.51617904e+00] [ 7.70585576e-03 9.99970309e-01 -4.21578283e-05 -7.97359225e-02] [ 4.28591722e-03 9.13105235e-06 9.99990815e-01 -1.85748399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.08, Z:-0.19 [[ 9.99971514e-01 -6.21316472e-03 -4.28571614e-03 7.54423050e+00] [ 6.21303960e-03 9.99980698e-01 -4.25067630e-05 -7.72771881e-02] [ 4.28589752e-03 1.58782281e-05 9.99990815e-01 -1.85867326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.08, Z:-0.18 [[ 9.99972971e-01 -5.97417477e-03 -4.28571367e-03 7.57252236e+00] [ 5.97404640e-03 9.99982154e-01 -4.27539510e-05 -7.56043434e-02] [ 4.28589261e-03 1.71497431e-05 9.99990815e-01 -1.84840148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.07, Z:-0.18 [[ 9.99972956e-01 -5.97663383e-03 -4.28570566e-03 7.60056292e+00] [ 5.97650210e-03 9.99982140e-01 -4.35426939e-05 -7.42163045e-02] [ 4.28588935e-03 1.79279874e-05 9.99990815e-01 -1.84137745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.07, Z:-0.18 [[ 9.99971957e-01 -6.14152721e-03 -4.28569752e-03 7.62791532e+00] [ 6.14139363e-03 9.99981140e-01 -4.43292348e-05 -7.30254798e-02] [ 4.28588895e-03 1.80078362e-05 9.99990815e-01 -1.83783269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.07, Z:-0.18 [[ 9.99970821e-01 -6.32382885e-03 -4.28569497e-03 7.65640690e+00] [ 6.32369589e-03 9.99980004e-01 -4.45741963e-05 -7.25246038e-02] [ 4.28589116e-03 1.74714639e-05 9.99990815e-01 -1.83661157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.07, Z:-0.18 [[ 9.99969656e-01 -6.50532277e-03 -4.28568671e-03 7.68363049e+00] [ 6.50518813e-03 9.99978840e-01 -4.53555090e-05 -7.10420028e-02] [ 4.28589107e-03 1.74749345e-05 9.99990815e-01 -1.84655396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.07, Z:-0.19 [[ 9.99966299e-01 -7.00244988e-03 -4.28568308e-03 7.71202618e+00] [ 7.00231835e-03 9.99975482e-01 -4.56951774e-05 -6.97866034e-02] [ 4.28589799e-03 1.56839201e-05 9.99990815e-01 -1.85902439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.07, Z:-0.19 [[ 9.99962228e-01 -7.56144821e-03 -4.28567576e-03 7.73996749e+00] [ 7.56131891e-03 9.99971412e-01 -4.63721759e-05 -6.82998937e-02] [ 4.28590388e-03 1.39650632e-05 9.99990815e-01 -1.86911740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.358623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.07, Z:-0.19 [[ 9.99957360e-01 -8.17990176e-03 -4.28566728e-03 7.76821520e+00] [ 8.17977484e-03 9.99966544e-01 -4.71429284e-05 -6.65466463e-02] [ 4.28590952e-03 1.20851249e-05 9.99990815e-01 -1.87046649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.06, Z:-0.19 [[ 9.99943056e-01 -9.77331327e-03 -4.28565868e-03 7.79590188e+00] [ 9.77319769e-03 9.99952240e-01 -4.79118197e-05 -6.32476633e-02] [ 4.28592226e-03 6.02450190e-06 9.99990815e-01 -1.85596367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.06, Z:-0.18 [[ 9.99929802e-01 -1.10464872e-02 -4.28564946e-03 7.82359577e+00] [ 1.10463798e-02 9.99938986e-01 -4.87235086e-05 -6.17223021e-02] [ 4.28592619e-03 1.37917657e-06 9.99990815e-01 -1.84283368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.06, Z:-0.19 [[ 9.99915123e-01 -1.23037004e-02 -4.28563989e-03 7.85181055e+00] [ 1.23036010e-02 9.99924307e-01 -4.95512523e-05 -6.05241727e-02] [ 4.28592516e-03 -3.18175681e-06 9.99990815e-01 -1.86264867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.06, Z:-0.18 [[ 9.99880318e-01 -1.48654690e-02 -4.28563690e-03 7.88002240e+00] [ 1.48653920e-02 9.99889503e-01 -4.98083349e-05 -5.90782305e-02] [ 4.28590377e-03 -1.39052989e-05 9.99990815e-01 -1.82946462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.06, Z:-0.18 [[ 9.99860484e-01 -1.61445597e-02 -4.28562736e-03 7.90793691e+00] [ 1.61444910e-02 9.99869668e-01 -5.06160990e-05 -5.75896249e-02] [ 4.28588598e-03 -1.85802353e-05 9.99990815e-01 -1.82232705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.06, Z:-0.18 [[ 9.99835915e-01 -1.76004752e-02 -4.28561773e-03 7.93624004e+00] [ 1.76004165e-02 9.99845099e-01 -5.14186725e-05 -5.55819796e-02] [ 4.28585888e-03 -2.40184213e-05 9.99990815e-01 -1.81175611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.05, Z:-0.18 [[ 9.99791223e-01 -1.99785855e-02 -4.28560783e-03 7.96319093e+00] [ 1.99785452e-02 9.99800408e-01 -5.22305489e-05 -5.27491778e-02] [ 4.28579595e-03 -3.34005655e-05 9.99990815e-01 -1.81300517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.05, Z:-0.18 [[ 9.99764351e-01 -2.12808944e-02 -4.28560349e-03 7.99128356e+00] [ 2.12808645e-02 9.99773535e-01 -5.25846290e-05 -5.12392626e-02] [ 4.28575200e-03 -3.86291098e-05 9.99990815e-01 -1.80439702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.05, Z:-0.18 [[ 9.99731563e-01 -2.27691630e-02 -4.28559350e-03 8.01868434e+00] [ 2.27691433e-02 9.99740748e-01 -5.33863496e-05 -5.01500122e-02] [ 4.28569802e-03 -4.42072740e-05 9.99990815e-01 -1.82346138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658623853 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.05, Z:-0.18 [[ 9.99700289e-01 -2.41032347e-02 -4.28558633e-03 8.04653646e+00] [ 2.41032248e-02 9.99709474e-01 -5.39562000e-05 -4.99585951e-02] [ 4.28564177e-03 -4.93564221e-05 9.99990815e-01 -1.76540180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.05, Z:-0.18 [[ 9.99644629e-01 -2.63106176e-02 -4.28557617e-03 8.07325369e+00] [ 2.63106246e-02 9.99653814e-01 -5.47512067e-05 -4.90176446e-02] [ 4.28553310e-03 -5.80244362e-05 9.99990815e-01 -1.79665569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.05, Z:-0.18 [[ 9.99617666e-01 -2.73158463e-02 -4.28556910e-03 8.10152543e+00] [ 2.73158602e-02 9.99626851e-01 -5.52993430e-05 -4.78987809e-02] [ 4.28548049e-03 -6.17858064e-05 9.99990815e-01 -1.80299820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.05, Z:-0.18 [[ 9.99560376e-01 -2.93374805e-02 -4.28555874e-03 8.12931768e+00] [ 2.93375096e-02 9.99569561e-01 -5.60907129e-05 -4.65456820e-02] [ 4.28535963e-03 -6.96615665e-05 9.99990815e-01 -1.83246962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.05, Z:-0.18 [[ 9.99523858e-01 -3.05563643e-02 -4.28555551e-03 8.15736490e+00] [ 3.05564035e-02 9.99533042e-01 -5.63365917e-05 -4.59967067e-02] [ 4.28527578e-03 -7.46413958e-05 9.99990815e-01 -1.82968914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.05, Z:-0.18 [[ 9.99483921e-01 -3.18359292e-02 -4.28554525e-03 8.18508573e+00] [ 3.18359769e-02 9.99493105e-01 -5.71063641e-05 -4.53147403e-02] [ 4.28519096e-03 -7.93576268e-05 9.99990815e-01 -1.82141814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.05, Z:-0.18 [[ 9.99425100e-01 -3.36318822e-02 -4.28553482e-03 8.21334490e+00] [ 3.36319431e-02 9.99434285e-01 -5.78784188e-05 -4.62272517e-02] [ 4.28505699e-03 -8.62857190e-05 9.99990815e-01 -1.79421225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.05, Z:-0.18 [[ 9.99404380e-01 -3.42420583e-02 -4.28552990e-03 8.24130369e+00] [ 3.42421232e-02 9.99413565e-01 -5.82404319e-05 -4.70120497e-02] [ 4.28501099e-03 -8.85399004e-05 9.99990815e-01 -1.75505684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.05, Z:-0.17 [[ 9.99387372e-01 -3.47349166e-02 -4.28551827e-03 8.26852959e+00] [ 3.47349825e-02 9.99396557e-01 -5.90843537e-05 -4.71638316e-02] [ 4.28498449e-03 -8.98092449e-05 9.99990815e-01 -1.74344019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.05, Z:-0.18 [[ 9.99375975e-01 -3.50613150e-02 -4.28551320e-03 8.29504918e+00] [ 3.50613823e-02 9.99385159e-01 -5.94499654e-05 -4.64643035e-02] [ 4.28496268e-03 -9.08431495e-05 9.99990815e-01 -1.78175039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.05, Z:-0.18 [[ 9.99385540e-01 -3.47875996e-02 -4.28550557e-03 8.32332948e+00] [ 3.47876620e-02 9.99394724e-01 -5.99946205e-05 -4.62669077e-02] [ 4.28499873e-03 -8.91249632e-05 9.99990815e-01 -1.76050475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.05, Z:-0.18 [[ 9.99409516e-01 -3.40918563e-02 -4.28549354e-03 8.35119685e+00] [ 3.40919087e-02 9.99418700e-01 -6.08420171e-05 -4.68860647e-02] [ 4.28507660e-03 -8.52945636e-05 9.99990815e-01 -1.80412927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.05, Z:-0.18 [[ 9.99476204e-01 -3.20772921e-02 -4.28548977e-03 8.37860841e+00] [ 3.20773249e-02 9.99485388e-01 -6.11061875e-05 -4.78536759e-02] [ 4.28524453e-03 -7.63928674e-05 9.99990815e-01 -1.80638084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.05, Z:-0.18 [[ 9.99507304e-01 -3.10931356e-02 -4.28548513e-03 8.40654625e+00] [ 3.10931579e-02 9.99516489e-01 -6.14302495e-05 -4.72829118e-02] [ 4.28532311e-03 -7.18492828e-05 9.99990815e-01 -1.76153718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.05, Z:-0.18 [[ 9.99537905e-01 -3.00933816e-02 -4.28547285e-03 8.43400516e+00] [ 3.00933911e-02 9.99547089e-01 -6.22755405e-05 -4.64635908e-02] [ 4.28540599e-03 -6.67176470e-05 9.99990815e-01 -1.78382411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.05, Z:-0.18 [[ 9.99578485e-01 -2.87138963e-02 -4.28546429e-03 8.46248106e+00] [ 2.87138907e-02 9.99587669e-01 -6.28585058e-05 -4.58415464e-02] [ 4.28550218e-03 -6.02203433e-05 9.99990815e-01 -1.77186610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.05, Z:-0.18 [[ 9.99643575e-01 -2.63506718e-02 -4.28545174e-03 8.49020566e+00] [ 2.63506408e-02 9.99652760e-01 -6.37033547e-05 -4.56617484e-02] [ 4.28564228e-03 -4.92437500e-05 9.99990815e-01 -1.78129035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.04, Z:-0.18 [[ 9.99669171e-01 -2.53610605e-02 -4.28543909e-03 8.51770806e+00] [ 2.53610168e-02 9.99678356e-01 -6.45431027e-05 -4.48659734e-02] [ 4.28569758e-03 -4.41613426e-05 9.99990815e-01 -1.77024482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.04, Z:-0.18 [[ 9.99693747e-01 -2.43730809e-02 -4.28543514e-03 8.54533832e+00] [ 2.43730271e-02 9.99702932e-01 -6.48039994e-05 -4.41879639e-02] [ 4.28574155e-03 -3.96648738e-05 9.99990815e-01 -1.78554987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.04, Z:-0.18 [[ 9.99727528e-01 -2.29456768e-02 -4.28543131e-03 8.57458087e+00] [ 2.29456088e-02 9.99736713e-01 -6.50564251e-05 -4.48937577e-02] [ 4.28579578e-03 -3.32931312e-05 9.99990815e-01 -1.75799526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.04, Z:-0.17 [[ 9.99739724e-01 -2.24080023e-02 -4.28542008e-03 8.60226001e+00] [ 2.24079261e-02 9.99748909e-01 -6.57880402e-05 -4.48792967e-02] [ 4.28581823e-03 -3.02564593e-05 9.99990815e-01 -1.74980664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.04, Z:-0.17 [[ 9.99748964e-01 -2.19919087e-02 -4.28540699e-03 8.63015934e+00] [ 2.19918251e-02 9.99758148e-01 -6.66300008e-05 -4.37636641e-02] [ 4.28583588e-03 -2.76306466e-05 9.99990815e-01 -1.74624081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.04, Z:-0.17 [[ 9.99777559e-01 -2.06511162e-02 -4.28539370e-03 8.65766803e+00] [ 2.06510167e-02 9.99786743e-01 -6.74741894e-05 -4.14188350e-02] [ 4.28587322e-03 -2.10385563e-05 9.99990815e-01 -1.74561586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.04, Z:-0.17 [[ 9.99783645e-01 -2.03543478e-02 -4.28538955e-03 8.68543070e+00] [ 2.03542445e-02 9.99792829e-01 -6.77362843e-05 -4.08887716e-02] [ 4.28588047e-03 -1.95042374e-05 9.99990815e-01 -1.73444308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.04, Z:-0.17 [[ 9.99787946e-01 -2.01419599e-02 -4.28537614e-03 8.71278939e+00] [ 2.01418510e-02 9.99797130e-01 -6.85743080e-05 -4.07370607e-02] [ 4.28588799e-03 -1.77556413e-05 9.99990815e-01 -1.74286226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.04, Z:-0.18 [[ 9.99787860e-01 -2.01462425e-02 -4.28537028e-03 8.74084889e+00] [ 2.01461320e-02 9.99797044e-01 -6.89387596e-05 -4.09640712e-02] [ 4.28588940e-03 -1.74095005e-05 9.99990815e-01 -1.75887492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.438623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.04, Z:-0.17 [[ 9.99782086e-01 -2.04307625e-02 -4.28536618e-03 8.76873753e+00] [ 2.04306536e-02 9.99791270e-01 -6.91926399e-05 -4.06434569e-02] [ 4.28588536e-03 -1.83752701e-05 9.99990815e-01 -1.74888580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.04, Z:-0.18 [[ 9.99772868e-01 -2.08769995e-02 -4.28535261e-03 8.79574780e+00] [ 2.08768911e-02 9.99782052e-01 -7.00230472e-05 -4.04263038e-02] [ 4.28588050e-03 -1.94576972e-05 9.99990815e-01 -1.75482681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.04, Z:-0.18 [[ 9.99758496e-01 -2.15542612e-02 -4.28534669e-03 8.82308740e+00] [ 2.15541576e-02 9.99767680e-01 -7.03836088e-05 -3.98670450e-02] [ 4.28586818e-03 -2.20004269e-05 9.99990815e-01 -1.76840822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528623853000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.04, Z:-0.17 [[ 9.99708177e-01 -2.37738764e-02 -4.28534088e-03 8.85125916e+00] [ 2.37737916e-02 9.99717361e-01 -7.07354464e-05 -3.96633980e-02] [ 4.28581134e-03 -3.11639970e-05 9.99990815e-01 -1.73827864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.04, Z:-0.18 [[ 9.99671216e-01 -2.52803570e-02 -4.28532737e-03 8.87940156e+00] [ 2.52802826e-02 9.99680400e-01 -7.15448782e-05 -3.97513438e-02] [ 4.28576646e-03 -3.68129316e-05 9.99990815e-01 -1.75174083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.04, Z:-0.17 [[ 9.99619075e-01 -2.72642933e-02 -4.28531340e-03 8.90709796e+00] [ 2.72642336e-02 9.99628259e-01 -7.23719361e-05 -3.99663283e-02] [ 4.28569355e-03 -4.44914178e-05 9.99990815e-01 -1.74418375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.04, Z:-0.17 [[ 9.99494780e-01 -3.14931999e-02 -4.28530905e-03 8.93611804e+00] [ 3.14931779e-02 9.99503964e-01 -7.26287636e-05 -4.20785362e-02] [ 4.28547070e-03 -6.23659304e-05 9.99990815e-01 -1.68048591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.04, Z:-0.17 [[ 9.99428117e-01 -3.35421316e-02 -4.28529655e-03 8.96297779e+00] [ 3.35421253e-02 9.99437302e-01 -7.33586595e-05 -4.34128587e-02] [ 4.28534583e-03 -7.04212472e-05 9.99990815e-01 -1.66783542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.04, Z:-0.17 [[ 9.99353060e-01 -3.57085164e-02 -4.28529032e-03 8.99135122e+00] [ 3.57085285e-02 9.99362244e-01 -7.37208794e-05 -4.48825977e-02] [ 4.28518982e-03 -7.93482252e-05 9.99990815e-01 -1.68636191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.05, Z:-0.17 [[ 9.99159344e-01 -4.07706086e-02 -4.28528322e-03 9.01939118e+00] [ 4.07706655e-02 9.99168528e-01 -7.41313317e-05 -4.98794611e-02] [ 4.28474251e-03 -1.00644836e-04 9.99990815e-01 -1.68185542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.05, Z:-0.17 [[ 9.99047281e-01 -4.34300156e-02 -4.28527868e-03 9.04754748e+00] [ 4.34300957e-02 9.99056465e-01 -7.43932687e-05 -5.29752332e-02] [ 4.28446627e-03 -1.11787670e-04 9.99990815e-01 -1.66152243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.06, Z:-0.17 [[ 9.98956404e-01 -4.54724103e-02 -4.28526408e-03 9.07506077e+00] [ 4.54725057e-02 9.98965588e-01 -7.52247741e-05 -5.63880054e-02] [ 4.28425200e-03 -1.19715425e-04 9.99990815e-01 -1.69247050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.06, Z:-0.17 [[ 9.98780209e-01 -4.91907479e-02 -4.28525773e-03 9.10346850e+00] [ 4.91908759e-02 9.98789393e-01 -7.55849730e-05 -6.32794454e-02] [ 4.28378805e-03 -1.35302806e-04 9.99990815e-01 -1.68945618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.07, Z:-0.17 [[ 9.98705326e-01 -5.06883537e-02 -4.28524307e-03 9.13111129e+00] [ 5.06884919e-02 9.98714509e-01 -7.64071929e-05 -6.77092170e-02] [ 4.28360738e-03 -1.40904238e-04 9.99990815e-01 -1.68931964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.07, Z:-0.17 [[ 9.98650830e-01 -5.17509089e-02 -4.28522835e-03 9.15825833e+00] [ 5.17510534e-02 9.98660013e-01 -7.72238363e-05 -7.21842033e-02] [ 4.28348260e-03 -1.44645433e-04 9.99990815e-01 -1.70192385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.08, Z:-0.17 [[ 9.98668708e-01 -5.14047562e-02 -4.28521809e-03 9.18632566e+00] [ 5.14048951e-02 9.98677891e-01 -7.77888010e-05 -7.91302006e-02] [ 4.28355128e-03 -1.42595945e-04 9.99990815e-01 -1.65172290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.08, Z:-0.17 [[ 9.98736066e-01 -5.00790197e-02 -4.28520265e-03 9.21387395e+00] [ 5.00791428e-02 9.98745249e-01 -7.86305765e-05 -8.22576607e-02] [ 4.28376353e-03 -1.36068083e-04 9.99990815e-01 -1.66615592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.09, Z:-0.17 [[ 9.98843127e-01 -4.78961887e-02 -4.28519784e-03 9.24185202e+00] [ 4.78962906e-02 9.98852311e-01 -7.88919450e-05 -8.58795119e-02] [ 4.28405838e-03 -1.26444404e-04 9.99990815e-01 -1.70888925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.09, Z:-0.17 [[ 9.99109023e-01 -4.19856777e-02 -4.28519310e-03 9.27005382e+00] [ 4.19857242e-02 9.99118208e-01 -7.91485133e-05 -9.25444909e-02] [ 4.28473755e-03 -1.00838942e-04 9.99990815e-01 -1.69639746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.10, Z:-0.17 [[ 9.99256387e-01 -3.83185337e-02 -4.28517733e-03 9.29852427e+00] [ 3.83185428e-02 9.99265572e-01 -7.99929507e-05 -9.51601325e-02] [ 4.28509539e-03 -8.42682843e-05 9.99990815e-01 -1.69536053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.10, Z:-0.17 [[ 9.99399957e-01 -3.43709635e-02 -4.28516137e-03 9.32655312e+00] [ 3.43709328e-02 9.99409142e-01 -8.08393358e-05 -9.77985123e-02] [ 4.28540797e-03 -6.64941644e-05 9.99990815e-01 -1.68598622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.10, Z:-0.17 [[ 9.99536729e-01 -3.01324581e-02 -4.28514588e-03 9.35395949e+00] [ 3.01323849e-02 9.99545913e-01 -8.16518108e-05 -1.00565083e-01] [ 4.28566043e-03 -4.75076815e-05 9.99990815e-01 -1.68354733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.11, Z:-0.17 [[ 9.99754967e-01 -2.17173524e-02 -4.28514071e-03 9.38141438e+00] [ 2.17172008e-02 9.99764150e-01 -8.19222492e-05 -1.05884767e-01] [ 4.28590920e-03 -1.11590856e-05 9.99990815e-01 -1.68334100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.11, Z:-0.17 [[ 9.99830369e-01 -1.79128463e-02 -4.28513463e-03 9.41045138e+00] [ 1.79126584e-02 9.99839552e-01 -8.22393306e-05 -1.07609696e-01] [ 4.28592023e-03 5.46722749e-06 9.99990815e-01 -1.66845542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.11, Z:-0.17 [[ 9.99826991e-01 -1.81004532e-02 -4.28512098e-03 9.43895185e+00] [ 1.81002640e-02 9.99836173e-01 -8.29445069e-05 -1.06865489e-01] [ 4.28592030e-03 5.36833573e-06 9.99990815e-01 -1.66723454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.11, Z:-0.17 [[ 9.99884202e-01 -1.46020439e-02 -4.28510526e-03 9.46753428e+00] [ 1.46018191e-02 9.99893384e-01 -8.37485544e-05 -1.08230942e-01] [ 4.28587131e-03 2.11685246e-05 9.99990815e-01 -1.65206886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.11, Z:-0.16 [[ 9.99963224e-01 -7.42896118e-03 -4.28509114e-03 9.49602635e+00] [ 7.42866742e-03 9.99972404e-01 -8.44653119e-05 -1.10904160e-01] [ 4.28560037e-03 5.26296887e-05 9.99990815e-01 -1.64759590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.11, Z:-0.17 [[ 9.99982414e-01 -4.09993710e-03 -4.28507455e-03 9.52305628e+00] [ 4.09960922e-03 9.99991593e-01 -8.52983242e-05 -1.11506825e-01] [ 4.28538825e-03 6.77296930e-05 9.99990815e-01 -1.65580261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.11, Z:-0.17 [[ 9.99990296e-01 -1.02299263e-03 -4.28506738e-03 9.55072964e+00] [ 1.02263497e-03 9.99999473e-01 -8.56571902e-05 -1.11746916e-01] [ 4.28515275e-03 8.12742992e-05 9.99990815e-01 -1.66341032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.11, Z:-0.17 [[ 9.99980795e-01 4.47756200e-03 -4.28505099e-03 9.57843342e+00] [-4.47797361e-03 9.99989970e-01 -8.64693654e-05 -1.12338758e-01] [ 4.28462084e-03 1.05656050e-04 9.99990815e-01 -1.68878932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.11, Z:-0.17 [[ 9.99968052e-01 6.74778850e-03 -4.28504363e-03 9.60727656e+00] [-6.74822251e-03 9.99977227e-01 -8.68326131e-05 -1.12012068e-01] [ 4.28436012e-03 1.15746267e-04 9.99990815e-01 -1.68832130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.11, Z:-0.17 [[ 9.99953483e-01 8.64120109e-03 -4.28503950e-03 9.63575262e+00] [-8.64165333e-03 9.99962656e-01 -8.70359324e-05 -1.11289097e-01] [ 4.28412739e-03 1.24061710e-04 9.99990815e-01 -1.69333401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.11, Z:-0.17 [[ 9.99927996e-01 1.12089619e-02 -4.28503642e-03 9.66394864e+00] [-1.12094383e-02 9.99937168e-01 -8.71872444e-05 -1.10016352e-01] [ 4.28378991e-03 1.35213818e-04 9.99990815e-01 -1.69369538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.11, Z:-0.17 [[ 9.99923721e-01 1.15840284e-02 -4.28503339e-03 9.69336178e+00] [-1.15845089e-02 9.99932894e-01 -8.73362780e-05 -1.08858051e-01] [ 4.28373413e-03 1.36969624e-04 9.99990815e-01 -1.67535182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.11, Z:-0.16 [[ 9.99933965e-01 1.06631960e-02 -4.28503136e-03 9.72334719e+00] [-1.06636685e-02 9.99943138e-01 -8.74355673e-05 -1.07458656e-01] [ 4.28385536e-03 1.33123947e-04 9.99990815e-01 -1.64332285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.11, Z:-0.16 [[ 9.99946520e-01 9.41251042e-03 -4.28502927e-03 9.75309547e+00] [-9.41297189e-03 9.99955693e-01 -8.75378153e-05 -1.06551064e-01] [ 4.28401546e-03 1.27867994e-04 9.99990815e-01 -1.64200004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.11, Z:-0.16 [[ 9.99960551e-01 7.78039492e-03 -4.28502823e-03 9.78278435e+00] [-7.78084163e-03 9.99969725e-01 -8.75887069e-05 -1.05977786e-01] [ 4.28421703e-03 1.20926378e-04 9.99990815e-01 -1.62892866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.11, Z:-0.16 [[ 9.99972242e-01 6.09536562e-03 -4.28502617e-03 9.81190060e+00] [-6.09579730e-03 9.99981417e-01 -8.76896036e-05 -1.05189829e-01] [ 4.28441203e-03 1.13807820e-04 9.99990815e-01 -1.62293576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.10, Z:-0.16 [[ 9.99987396e-01 2.61642924e-03 -4.28502307e-03 9.84198210e+00] [-2.61682965e-03 9.99996572e-01 -8.78405499e-05 -1.03082730e-01] [ 4.28477855e-03 9.90526182e-05 9.99990815e-01 -1.59806350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.10, Z:-0.16 [[ 9.99990591e-01 6.76236588e-04 -4.28502100e-03 9.87000061e+00] [-6.76619627e-04 9.99999767e-01 -8.79413905e-05 -1.01237601e-01] [ 4.28496053e-03 9.08398923e-05 9.99990815e-01 -1.59808262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.10, Z:-0.16 [[ 9.99989837e-01 -1.40164448e-03 -4.28501584e-03 9.89893323e+00] [ 1.40127943e-03 9.99999014e-01 -8.81921423e-05 -9.97718200e-02] [ 4.28513523e-03 8.21867414e-05 9.99990815e-01 -1.59138764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.10, Z:-0.16 [[ 9.99983496e-01 -3.82693805e-03 -4.28501168e-03 9.92694151e+00] [ 3.82659440e-03 9.99992675e-01 -8.83940662e-05 -9.82302305e-02] [ 4.28531856e-03 7.19956057e-05 9.99990815e-01 -1.56860542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.10, Z:-0.16 [[ 9.99960356e-01 -7.80540640e-03 -4.28500647e-03 9.95513301e+00] [ 7.80509819e-03 9.99969536e-01 -8.86455615e-05 -9.66283480e-02] [ 4.28556785e-03 5.51971511e-05 9.99990815e-01 -1.60064188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.10, Z:-0.16 [[ 9.99941371e-01 -9.94450754e-03 -4.28500085e-03 9.98319407e+00] [ 9.94421781e-03 9.99950551e-01 -8.89163093e-05 -9.54959230e-02] [ 4.28567319e-03 4.63001145e-05 9.99990815e-01 -1.60571528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.09, Z:-0.16 [[ 9.99918749e-01 -1.20055959e-02 -4.28498403e-03 1.00110424e+01] [ 1.20053216e-02 9.99927930e-01 -8.97198783e-05 -9.45166636e-02] [ 4.28575235e-03 3.82699771e-05 9.99990815e-01 -1.61507776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.09, Z:-0.16 [[ 9.99874173e-01 -1.52734144e-02 -4.28496690e-03 1.00389841e+01] [ 1.52731667e-02 9.99883354e-01 -9.05304359e-05 -9.28535691e-02] [ 4.28584979e-03 2.50740309e-05 9.99990815e-01 -1.64739812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.09, Z:-0.16 [[ 9.99854115e-01 -1.65344173e-02 -4.28495192e-03 1.00670038e+01] [ 1.65341781e-02 9.99863297e-01 -9.12341110e-05 -9.18618363e-02] [ 4.28587466e-03 2.03726430e-05 9.99990815e-01 -1.64029839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.09, Z:-0.16 [[ 9.99820709e-01 -1.84442127e-02 -4.28493464e-03 1.00936921e+01] [ 1.84439876e-02 9.99829891e-01 -9.20387151e-05 -9.10178710e-02] [ 4.28590331e-03 1.29909321e-05 9.99990815e-01 -1.63419958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.09, Z:-0.16 [[ 9.99809219e-01 -1.90568653e-02 -4.28492712e-03 1.01215898e+01] [ 1.90566444e-02 9.99818401e-01 -9.23873942e-05 -9.04174055e-02] [ 4.28590960e-03 1.07134362e-05 9.99990815e-01 -1.63976238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.09, Z:-0.16 [[ 9.99801609e-01 -1.94520725e-02 -4.28490979e-03 1.01497770e+01] [ 1.94518518e-02 9.99810790e-01 -9.31843953e-05 -8.94535775e-02] [ 4.28591167e-03 9.81647822e-06 9.99990815e-01 -1.64290376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.938623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.09, Z:-0.17 [[ 9.99800363e-01 -1.95159929e-02 -4.28489216e-03 1.01769593e+01] [ 1.95157693e-02 9.99809545e-01 -9.39881385e-05 -8.80132607e-02] [ 4.28591035e-03 1.03464080e-05 9.99990815e-01 -1.65196635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.09, Z:-0.17 [[ 9.99797840e-01 -1.96448311e-02 -4.28488446e-03 1.02044359e+01] [ 1.96446072e-02 9.99807022e-01 -9.43379380e-05 -8.66564526e-02] [ 4.28591082e-03 1.01439944e-05 9.99990815e-01 -1.65693636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.09, Z:-0.17 [[ 9.99795930e-01 -1.97417661e-02 -4.28487243e-03 1.02325224e+01] [ 1.97415408e-02 9.99805112e-01 -9.48811600e-05 -8.52093320e-02] [ 4.28591048e-03 1.02718139e-05 9.99990815e-01 -1.65616306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.08, Z:-0.17 [[ 9.99790522e-01 -2.00137987e-02 -4.28485498e-03 1.02608453e+01] [ 2.00135725e-02 9.99799704e-01 -9.56626269e-05 -8.35961407e-02] [ 4.28591131e-03 9.88733179e-06 9.99990815e-01 -1.65199952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.08, Z:-0.16 [[ 9.99786880e-01 -2.01949364e-02 -4.28483732e-03 1.02885246e+01] [ 2.01947085e-02 9.99796061e-01 -9.64473821e-05 -8.12438171e-02] [ 4.28591122e-03 9.89578675e-06 9.99990815e-01 -1.64292570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.08, Z:-0.17 [[ 9.99782493e-01 -2.04109649e-02 -4.28481824e-03 1.03150555e+01] [ 2.04107354e-02 9.99791675e-01 -9.72876505e-05 -7.97759542e-02] [ 4.28591134e-03 9.81019832e-06 9.99990815e-01 -1.66549192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.08, Z:-0.17 [[ 9.99779779e-01 -2.05434759e-02 -4.28480995e-03 1.03420525e+01] [ 2.05432460e-02 9.99788960e-01 -9.76515082e-05 -7.86327244e-02] [ 4.28591178e-03 9.60609836e-06 9.99990815e-01 -1.65966021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.08, Z:-0.16 [[ 9.99772845e-01 -2.08781729e-02 -4.28480234e-03 1.03707959e+01] [ 2.08779447e-02 9.99782027e-01 -9.79841129e-05 -7.62569830e-02] [ 4.28591410e-03 8.50398905e-06 9.99990815e-01 -1.64490970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.07, Z:-0.16 [[ 9.99771568e-01 -2.09392459e-02 -4.28478687e-03 1.03990484e+01] [ 2.09390154e-02 9.99780750e-01 -9.86559507e-05 -7.42150002e-02] [ 4.28591321e-03 8.91419634e-06 9.99990815e-01 -1.63158156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.07, Z:-0.16 [[ 9.99772079e-01 -2.09148408e-02 -4.28476774e-03 1.04261259e+01] [ 2.09146065e-02 9.99781261e-01 -9.94801438e-05 -7.25255593e-02] [ 4.28591110e-03 9.84323890e-06 9.99990815e-01 -1.64494615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.07, Z:-0.16 [[ 9.99754399e-01 -2.17435855e-02 -4.28475941e-03 1.04545009e+01] [ 2.17433573e-02 9.99763580e-01 -9.98375763e-05 -7.04196750e-02] [ 4.28591723e-03 6.64800125e-06 9.99990815e-01 -1.64751711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.07, Z:-0.17 [[ 9.99737655e-01 -2.25002567e-02 -4.28474197e-03 1.04820339e+01] [ 2.25000322e-02 9.99746837e-01 -1.00580445e-04 -6.91610403e-02] [ 4.28592032e-03 4.14722534e-06 9.99990815e-01 -1.65592679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.07, Z:-0.16 [[ 9.99690614e-01 -2.45013812e-02 -4.28473652e-03 1.05097472e+01] [ 2.45011742e-02 9.99699796e-01 -1.00811931e-04 -6.71322186e-02] [ 4.28592026e-03 -4.20033511e-06 9.99990815e-01 -1.64601981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.07, Z:-0.17 [[ 9.99661907e-01 -2.56459022e-02 -4.28471731e-03 1.05366464e+01] [ 2.56457022e-02 9.99671090e-01 -1.01621978e-04 -6.62490461e-02] [ 4.28591421e-03 -8.29696422e-06 9.99990815e-01 -1.66856696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.06, Z:-0.17 [[ 9.99628555e-01 -2.69145724e-02 -4.28470896e-03 1.05645358e+01] [ 2.69143825e-02 9.99637737e-01 -1.01972820e-04 -6.49822891e-02] [ 4.28590133e-03 -1.33853531e-05 9.99990815e-01 -1.65153912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.06, Z:-0.17 [[ 9.99567896e-01 -2.90802806e-02 -4.28468916e-03 1.05920713e+01] [ 2.90801071e-02 9.99577079e-01 -1.02798236e-04 -6.37439408e-02] [ 4.28586647e-03 -2.18454030e-05 9.99990815e-01 -1.67664215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.06, Z:-0.17 [[ 9.99541415e-01 -2.99766704e-02 -4.28468298e-03 1.06201152e+01] [ 2.99765040e-02 9.99550598e-01 -1.03054936e-04 -6.33001786e-02] [ 4.28584668e-03 -2.54321397e-05 9.99990815e-01 -1.71405047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.06, Z:-0.17 [[ 9.99513895e-01 -3.08806726e-02 -4.28467697e-03 1.06480919e+01] [ 3.08805135e-02 9.99523078e-01 -1.03304484e-04 -6.25824911e-02] [ 4.28582362e-03 -2.90587581e-05 9.99990815e-01 -1.71837647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.06, Z:-0.17 [[ 9.99502546e-01 -3.12458510e-02 -4.28465938e-03 1.06759494e+01] [ 3.12456921e-02 9.99511729e-01 -1.04029013e-04 -6.19764070e-02] [ 4.28581778e-03 -2.98998843e-05 9.99990815e-01 -1.72723391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.06, Z:-0.17 [[ 9.99499922e-01 -3.13296720e-02 -4.28464175e-03 1.07034870e+01] [ 3.13295108e-02 9.99509105e-01 -1.04749893e-04 -6.08990798e-02] [ 4.28582022e-03 -2.95382207e-05 9.99990815e-01 -1.74128995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.06, Z:-0.17 [[ 9.99501673e-01 -3.12737664e-02 -4.28463626e-03 1.07312138e+01] [ 3.12736038e-02 9.99510856e-01 -1.04974208e-04 -6.04819367e-02] [ 4.28582339e-03 -2.90741197e-05 9.99990815e-01 -1.71369296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.06, Z:-0.17 [[ 9.99502351e-01 -3.12520780e-02 -4.28461685e-03 1.07590684e+01] [ 3.12519118e-02 9.99511534e-01 -1.05760425e-04 -5.97991069e-02] [ 4.28582919e-03 -2.81946749e-05 9.99990815e-01 -1.67329989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.06, Z:-0.17 [[ 9.99517581e-01 -3.07611475e-02 -4.28459656e-03 1.07864824e+01] [ 3.07609733e-02 9.99526764e-01 -1.06575933e-04 -5.93576329e-02] [ 4.28584734e-03 -2.52738415e-05 9.99990815e-01 -1.69823382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.06, Z:-0.17 [[ 9.99523492e-01 -3.05684662e-02 -4.28458200e-03 1.08140926e+01] [ 3.05682877e-02 9.99532675e-01 -1.07158182e-04 -5.77561801e-02] [ 4.28585537e-03 -2.38652153e-05 9.99990815e-01 -1.66692224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.06, Z:-0.17 [[ 9.99529964e-01 -3.03561170e-02 -4.28456022e-03 1.08411825e+01] [ 3.03559328e-02 9.99539147e-01 -1.08022227e-04 -5.70955326e-02] [ 4.28586480e-03 -2.20903698e-05 9.99990815e-01 -1.69345692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.06, Z:-0.17 [[ 9.99543315e-01 -2.99132795e-02 -4.28455071e-03 1.08685200e+01] [ 2.99130897e-02 9.99552498e-01 -1.08397900e-04 -5.68318245e-02] [ 4.28587590e-03 -1.98157531e-05 9.99990815e-01 -1.68453552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.06, Z:-0.17 [[ 9.99556019e-01 -2.94857325e-02 -4.28453725e-03 1.08965859e+01] [ 2.94855365e-02 9.99565201e-01 -1.08927551e-04 -5.52797817e-02] [ 4.28588614e-03 -1.74526902e-05 9.99990815e-01 -1.67675381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.05, Z:-0.17 [[ 9.99572477e-01 -2.89223997e-02 -4.28451749e-03 1.09243952e+01] [ 2.89221952e-02 9.99581660e-01 -1.09699246e-04 -5.38444539e-02] [ 4.28589787e-03 -1.42653042e-05 9.99990815e-01 -1.66162933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.05, Z:-0.17 [[ 9.99605982e-01 -2.77402972e-02 -4.28449665e-03 1.09523304e+01] [ 2.77400783e-02 9.99615164e-01 -1.10507063e-04 -5.41586867e-02] [ 4.28591332e-03 -8.38875112e-06 9.99990815e-01 -1.65258908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.05, Z:-0.16 [[ 9.99618292e-01 -2.72931205e-02 -4.28447536e-03 1.09800520e+01] [ 2.72928940e-02 9.99627473e-01 -1.11326684e-04 -5.32942189e-02] [ 4.28591773e-03 -5.65154272e-06 9.99990815e-01 -1.64580783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.05, Z:-0.17 [[ 9.99645150e-01 -2.62910316e-02 -4.28445402e-03 1.10069296e+01] [ 2.62907925e-02 9.99654331e-01 -1.12142029e-04 -5.12074522e-02] [ 4.28592134e-03 -5.39456102e-07 9.99990815e-01 -1.67453921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.05, Z:-0.17 [[ 9.99642466e-01 -2.63928587e-02 -4.28443924e-03 1.10347093e+01] [ 2.63926180e-02 9.99651648e-01 -1.12703623e-04 -5.09637465e-02] [ 4.28592132e-03 -4.14241128e-07 9.99990815e-01 -1.68415996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.05, Z:-0.17 [[ 9.99618355e-01 -2.72908233e-02 -4.28441954e-03 1.10629881e+01] [ 2.72905877e-02 9.99627536e-01 -1.13447667e-04 -5.11969537e-02] [ 4.28591983e-03 -3.51995726e-06 9.99990815e-01 -1.67097777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.05, Z:-0.17 [[ 9.99583982e-01 -2.85220476e-02 -4.28439816e-03 1.10898922e+01] [ 2.85218199e-02 9.99593164e-01 -1.14249558e-04 -5.10128314e-02] [ 4.28591374e-03 -7.99680435e-06 9.99990815e-01 -1.68892464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.05, Z:-0.17 [[ 9.99508577e-01 -3.10523510e-02 -4.28438337e-03 1.11178653e+01] [ 3.10521442e-02 9.99517759e-01 -1.14801553e-04 -5.06633068e-02] [ 4.28588212e-03 -1.82941537e-05 9.99990815e-01 -1.67067927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.05, Z:-0.16 [[ 9.99453349e-01 -3.27818129e-02 -4.28436205e-03 1.11455492e+01] [ 3.27816186e-02 9.99462532e-01 -1.15591877e-04 -5.07553806e-02] [ 4.28584865e-03 -2.49196340e-05 9.99990815e-01 -1.64891289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.05, Z:-0.16 [[ 9.99402844e-01 -3.42870275e-02 -4.28433994e-03 1.11734669e+01] [ 3.42868435e-02 9.99412027e-01 -1.16405390e-04 -5.18899448e-02] [ 4.28581206e-03 -3.05606154e-05 9.99990815e-01 -1.63545646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.05, Z:-0.16 [[ 9.99396303e-01 -3.44771405e-02 -4.28431768e-03 1.12019598e+01] [ 3.44769548e-02 9.99405486e-01 -1.17219230e-04 -5.09155015e-02] [ 4.28581197e-03 -3.05617614e-05 9.99990815e-01 -1.63423572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.05, Z:-0.16 [[ 9.99348899e-01 -3.58248802e-02 -4.28429522e-03 1.12301980e+01] [ 3.58247034e-02 9.99358082e-01 -1.18034213e-04 -5.19453083e-02] [ 4.28577362e-03 -3.55262448e-05 9.99990815e-01 -1.63565122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.05, Z:-0.16 [[ 9.99299535e-01 -3.71763832e-02 -4.28427222e-03 1.12578759e+01] [ 3.71762152e-02 9.99308719e-01 -1.18863362e-04 -5.39560387e-02] [ 4.28572949e-03 -4.04929236e-05 9.99990815e-01 -1.62750811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.138623853000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.05, Z:-0.16 [[ 9.99303418e-01 -3.70718886e-02 -4.28424918e-03 1.12846119e+01] [ 3.70717162e-02 9.99312601e-01 -1.19688074e-04 -5.40872624e-02] [ 4.28574125e-03 -3.92197684e-05 9.99990815e-01 -1.61147936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.06, Z:-0.16 [[ 9.99351150e-01 -3.57620531e-02 -4.28423912e-03 1.13111830e+01] [ 3.57618671e-02 9.99360333e-01 -1.20046895e-04 -5.50752905e-02] [ 4.28579176e-03 -3.32433879e-05 9.99990815e-01 -1.61348405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.05, Z:-0.16 [[ 9.99386123e-01 -3.47710138e-02 -4.28422932e-03 1.13388842e+01] [ 3.47708172e-02 9.99395305e-01 -1.20395923e-04 -5.46472127e-02] [ 4.28582495e-03 -2.86441399e-05 9.99990815e-01 -1.59745951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.06, Z:-0.16 [[ 9.99429111e-01 -3.35126522e-02 -4.28420690e-03 1.13658877e+01] [ 3.35124406e-02 9.99438293e-01 -1.21188441e-04 -5.51466749e-02] [ 4.28586177e-03 -2.24549736e-05 9.99990815e-01 -1.60188948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.06, Z:-0.16 [[ 9.99513877e-01 -3.08813039e-02 -4.28419139e-03 1.13940412e+01] [ 3.08810658e-02 9.99523059e-01 -1.21734193e-04 -5.68799568e-02] [ 4.28590739e-03 -1.06253811e-05 9.99990815e-01 -1.58048117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.06, Z:-0.16 [[ 9.99550602e-01 -2.96688497e-02 -4.28416778e-03 1.14214184e+01] [ 2.96685969e-02 9.99559783e-01 -1.22559369e-04 -5.71378662e-02] [ 4.28591801e-03 -4.60095562e-06 9.99990815e-01 -1.58862448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.318623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.06, Z:-0.16 [[ 9.99583439e-01 -2.85411073e-02 -4.28415102e-03 1.14480467e+01] [ 2.85408417e-02 9.99592620e-01 -1.23142433e-04 -5.73921269e-02] [ 4.28592037e-03 8.17860682e-07 9.99990815e-01 -1.59500155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.06, Z:-0.16 [[ 9.99641741e-01 -2.64203492e-02 -4.28414101e-03 1.14746062e+01] [ 2.64200626e-02 9.99650922e-01 -1.23489792e-04 -5.82294475e-02] [ 4.28590815e-03 1.02582766e-05 9.99990815e-01 -1.60910503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.06, Z:-0.16 [[ 9.99657137e-01 -2.58312585e-02 -4.28413103e-03 1.15027557e+01] [ 2.58309650e-02 9.99666317e-01 -1.23835127e-04 -5.81053624e-02] [ 4.28590031e-03 1.31294296e-05 9.99990815e-01 -1.60674484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.06, Z:-0.16 [[ 9.99679119e-01 -2.49660784e-02 -4.28410760e-03 1.15310774e+01] [ 2.49657735e-02 9.99688299e-01 -1.24640430e-04 -5.84349325e-02] [ 4.28588402e-03 1.76443753e-05 9.99990815e-01 -1.60814407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.06, Z:-0.16 [[ 9.99701706e-01 -2.40446597e-02 -4.28408404e-03 1.15577997e+01] [ 2.40443429e-02 9.99710885e-01 -1.25445139e-04 -5.92468262e-02] [ 4.28586173e-03 2.23997342e-05 9.99990815e-01 -1.60489675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.06, Z:-0.16 [[ 9.99767350e-01 -2.11398241e-02 -4.28406770e-03 1.15852805e+01] [ 2.11394782e-02 9.99776528e-01 -1.26000706e-04 -5.95022781e-02] [ 4.28577396e-03 3.54084360e-05 9.99990815e-01 -1.60069943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.06, Z:-0.16 [[ 9.99801572e-01 -1.94541419e-02 -4.28406040e-03 1.16130462e+01] [ 1.94537795e-02 9.99810749e-01 -1.26248235e-04 -5.82145743e-02] [ 4.28570569e-03 4.28820170e-05 9.99990815e-01 -1.60228784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.06, Z:-0.16 [[ 9.99856426e-01 -1.63943491e-02 -4.28403762e-03 1.16409469e+01] [ 1.63939553e-02 9.99865602e-01 -1.27016539e-04 -5.80720108e-02] [ 4.28554421e-03 5.67659817e-05 9.99990815e-01 -1.58096715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.06, Z:-0.16 [[ 9.99880699e-01 -1.48402881e-02 -4.28401357e-03 1.16683081e+01] [ 1.48398766e-02 9.99889875e-01 -1.27822814e-04 -5.76318044e-02] [ 4.28543872e-03 6.42333323e-05 9.99990815e-01 -1.57804309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.06, Z:-0.16 [[ 9.99902049e-01 -1.33243844e-02 -4.28400310e-03 1.16959060e+01] [ 1.33239575e-02 9.99911224e-01 -1.28172757e-04 -5.62042497e-02] [ 4.28533060e-03 7.10803275e-05 9.99990815e-01 -1.57959268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.05, Z:-0.16 [[ 9.99933038e-01 -1.07502444e-02 -4.28397917e-03 1.17241168e+01] [ 1.07497905e-02 9.99942211e-01 -1.28967597e-04 -5.36994746e-02] [ 4.28511803e-03 8.29070824e-05 9.99990815e-01 -1.59627617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.05, Z:-0.16 [[ 9.99942964e-01 -9.78346094e-03 -4.28397176e-03 1.17524336e+01] [ 9.78299711e-03 9.99952137e-01 -1.29213318e-04 -5.23467787e-02] [ 4.28503087e-03 8.72958653e-05 9.99990815e-01 -1.58599537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.05, Z:-0.16 [[ 9.99952663e-01 -8.73613839e-03 -4.28394662e-03 1.17792277e+01] [ 8.73566141e-03 9.99961835e-01 -1.30041499e-04 -5.09847413e-02] [ 4.28491918e-03 9.26122359e-05 9.99990815e-01 -1.59841848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.05, Z:-0.16 [[ 9.99960898e-01 -7.73629268e-03 -4.28393566e-03 1.18068954e+01] [ 7.73580499e-03 9.99970070e-01 -1.30401383e-04 -4.88119494e-02] [ 4.28481627e-03 9.72565930e-05 9.99990815e-01 -1.61413271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.05, Z:-0.16 [[ 9.99957217e-01 -8.19824477e-03 -4.28392824e-03 1.18353442e+01] [ 8.19776027e-03 9.99966389e-01 -1.30644675e-04 -4.69457820e-02] [ 4.28485531e-03 9.55204685e-05 9.99990815e-01 -1.62016275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.05, Z:-0.16 [[ 9.99953224e-01 -8.67172366e-03 -4.28390445e-03 1.18627980e+01] [ 8.67124018e-03 9.99962395e-01 -1.31420261e-04 -4.55677726e-02] [ 4.28488300e-03 9.42673494e-05 9.99990815e-01 -1.61876223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.04, Z:-0.16 [[ 9.99943829e-01 -9.69468821e-03 -4.28388746e-03 1.18907422e+01] [ 9.69421175e-03 9.99953001e-01 -1.31971754e-04 -4.36467354e-02] [ 4.28496555e-03 9.04354290e-05 9.99990815e-01 -1.60736666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.04, Z:-0.16 [[ 9.99919629e-01 -1.19324575e-02 -4.28386345e-03 1.19175308e+01] [ 1.19319983e-02 9.99928802e-01 -1.32746663e-04 -4.03642449e-02] [ 4.28514244e-03 8.16209431e-05 9.99990815e-01 -1.59434068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.04, Z:-0.16 [[ 9.99902128e-01 -1.33184941e-02 -4.28383949e-03 1.19459489e+01] [ 1.33180443e-02 9.99911302e-01 -1.33515349e-04 -3.80967148e-02] [ 4.28523774e-03 7.64499179e-05 9.99990815e-01 -1.59059223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.04, Z:-0.16 [[ 9.99877842e-01 -1.50316492e-02 -4.28381541e-03 1.19735820e+01] [ 1.50312118e-02 9.99887016e-01 -1.34283614e-04 -3.63097681e-02] [ 4.28534991e-03 6.98762734e-05 9.99990815e-01 -1.58034769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.03, Z:-0.16 [[ 9.99821725e-01 -1.83893403e-02 -4.28379206e-03 1.20000603e+01] [ 1.83889305e-02 9.99830900e-01 -1.35024418e-04 -3.40564122e-02] [ 4.28555068e-03 5.62259922e-05 9.99990815e-01 -1.58858916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.03, Z:-0.16 [[ 9.99780390e-01 -2.05139205e-02 -4.28378114e-03 1.20275966e+01] [ 2.05135288e-02 9.99789566e-01 -1.35369725e-04 -3.26744263e-02] [ 4.28565666e-03 4.74645292e-05 9.99990815e-01 -1.57669608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.03, Z:-0.16 [[ 9.99738927e-01 -2.24438859e-02 -4.28375554e-03 1.20555743e+01] [ 2.24435084e-02 9.99748103e-01 -1.36175228e-04 -3.11870921e-02] [ 4.28573278e-03 3.99971728e-05 9.99990815e-01 -1.57085413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.03, Z:-0.16 [[ 9.99644965e-01 -2.62981745e-02 -4.28374755e-03 1.20839789e+01] [ 2.62978314e-02 9.99654143e-01 -1.36426216e-04 -2.90899255e-02] [ 4.28585374e-03 2.37245091e-05 9.99990815e-01 -1.55948149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.03, Z:-0.15 [[ 9.99586965e-01 -2.84174070e-02 -4.28372201e-03 1.21121187e+01] [ 2.84170799e-02 9.99596144e-01 -1.37223444e-04 -2.72198418e-02] [ 4.28589153e-03 1.54358956e-05 9.99990815e-01 -1.54904498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.03, Z:-0.16 [[ 9.99539110e-01 -3.00535925e-02 -4.28369617e-03 1.21386362e+01] [ 3.00532770e-02 9.99548289e-01 -1.38025335e-04 -2.58181606e-02] [ 4.28590933e-03 9.22261347e-06 9.99990815e-01 -1.57544099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.03, Z:-0.16 [[ 9.99431569e-01 -3.34393297e-02 -4.28368492e-03 1.21664963e+01] [ 3.34390437e-02 9.99440749e-01 -1.38373604e-04 -2.51650380e-02] [ 4.28591639e-03 -4.94737899e-06 9.99990815e-01 -1.57862329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.02, Z:-0.16 [[ 9.99379631e-01 -3.49571588e-02 -4.28365842e-03 1.21949371e+01] [ 3.49568834e-02 9.99388812e-01 -1.39189206e-04 -2.45191425e-02] [ 4.28590596e-03 -1.06404900e-05 9.99990815e-01 -1.58162739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.02, Z:-0.16 [[ 9.99341739e-01 -3.60241604e-02 -4.28363165e-03 1.22218875e+01] [ 3.60238912e-02 9.99350919e-01 -1.40008253e-04 -2.30269871e-02] [ 4.28589490e-03 -1.43969894e-05 9.99990815e-01 -1.58075220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.02, Z:-0.16 [[ 9.99276998e-01 -3.77774108e-02 -4.28361995e-03 1.22503157e+01] [ 3.77771562e-02 9.99286179e-01 -1.40365366e-04 -2.14038174e-02] [ 4.28586485e-03 -2.15590984e-05 9.99990815e-01 -1.59283293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.02, Z:-0.16 [[ 9.99247791e-01 -3.85422350e-02 -4.28359574e-03 1.22773149e+01] [ 3.85419842e-02 9.99256972e-01 -1.41100310e-04 -2.06368120e-02] [ 4.28585123e-03 -2.41041061e-05 9.99990815e-01 -1.58896528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.02, Z:-0.16 [[ 9.99211024e-01 -3.94839152e-02 -4.28358443e-03 1.23049705e+01] [ 3.94836717e-02 9.99220206e-01 -1.41442889e-04 -2.00082834e-02] [ 4.28582883e-03 -2.78003470e-05 9.99990815e-01 -1.57693930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.02, Z:-0.16 [[ 9.99168336e-01 -4.05498161e-02 -4.28355689e-03 1.23334363e+01] [ 4.05495788e-02 9.99177517e-01 -1.42272040e-04 -1.92859133e-02] [ 4.28580284e-03 -3.15427097e-05 9.99990815e-01 -1.55890694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.02, Z:-0.15 [[ 9.99168118e-01 -4.05551821e-02 -4.28352836e-03 1.23616904e+01] [ 4.05549411e-02 9.99177300e-01 -1.43125793e-04 -1.74689790e-02] [ 4.28580879e-03 -3.07115113e-05 9.99990815e-01 -1.54906781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.02, Z:-0.16 [[ 9.99179527e-01 -4.02731257e-02 -4.28351950e-03 1.23882107e+01] [ 4.02728811e-02 9.99188708e-01 -1.43390590e-04 -1.63608212e-02] [ 4.28581910e-03 -2.92367293e-05 9.99990815e-01 -1.56151730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.01, Z:-0.16 [[ 9.99231469e-01 -3.89631063e-02 -4.28350723e-03 1.24161016e+01] [ 3.89628480e-02 9.99240650e-01 -1.43756031e-04 -1.40466530e-02] [ 4.28585573e-03 -2.32520915e-05 9.99990815e-01 -1.55817845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.01, Z:-0.16 [[ 9.99263659e-01 -3.81286121e-02 -4.28347978e-03 1.24435593e+01] [ 3.81283427e-02 9.99272840e-01 -1.44569380e-04 -1.17787273e-02] [ 4.28587724e-03 -1.88590568e-05 9.99990815e-01 -1.56471763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.01, Z:-0.16 [[ 9.99289280e-01 -3.74511137e-02 -4.28345212e-03 1.24713292e+01] [ 3.74508346e-02 9.99298461e-01 -1.45384202e-04 -9.80202995e-03] [ 4.28589192e-03 -1.51379821e-05 9.99990815e-01 -1.56495003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.01, Z:-0.16 [[ 9.99353076e-01 -3.57082956e-02 -4.28342366e-03 1.24987903e+01] [ 3.57079969e-02 9.99362255e-01 -1.46217952e-04 -7.20190046e-03] [ 4.28591313e-03 -6.82911916e-06 9.99990815e-01 -1.58597720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.01, Z:-0.16 [[ 9.99374756e-01 -3.50962846e-02 -4.28341087e-03 1.25262675e+01] [ 3.50959787e-02 9.99383936e-01 -1.46591790e-04 -5.14492789e-03] [ 4.28591684e-03 -3.83036204e-06 9.99990815e-01 -1.58667077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.00, Z:-0.16 [[ 9.99404047e-01 -3.42520720e-02 -4.28338187e-03 1.25528395e+01] [ 3.42517547e-02 9.99413226e-01 -1.47434288e-04 -3.27388916e-03] [ 4.28591842e-03 6.33078993e-07 9.99990815e-01 -1.60804159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:0.00, Z:-0.16 [[ 9.99430083e-01 -3.34837587e-02 -4.28336920e-03 1.25804364e+01] [ 3.34834327e-02 9.99439262e-01 -1.47801426e-04 2.55244308e-05] [ 4.28591630e-03 4.29528712e-06 9.99990815e-01 -1.59288930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:0.00, Z:-0.16 [[ 9.99423386e-01 -3.36830666e-02 -4.28334057e-03 1.26087360e+01] [ 3.36827390e-02 9.99432565e-01 -1.48626722e-04 2.54898517e-03] [ 4.28591625e-03 4.26637922e-06 9.99990815e-01 -1.59312634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.64, Y:0.00, Z:-0.16 [[ 9.99418867e-01 -3.38168682e-02 -4.28331145e-03 1.26361148e+01] [ 3.38165382e-02 9.99428046e-01 -1.49461082e-04 4.85411742e-03] [ 4.28591590e-03 4.52746027e-06 9.99990815e-01 -1.59354521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.66, Y:0.01, Z:-0.16 [[ 9.99408124e-01 -3.41329163e-02 -4.28330243e-03 1.26625794e+01] [ 3.41325881e-02 9.99417302e-01 -1.49719281e-04 6.57722104e-03] [ 4.28591691e-03 3.43046858e-06 9.99990815e-01 -1.59076875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:0.01, Z:-0.16 [[ 9.99368694e-01 -3.52685077e-02 -4.28327984e-03 1.26894549e+01] [ 3.52681872e-02 9.99377873e-01 -1.50362719e-04 8.25968831e-03] [ 4.28591816e-03 -7.95721123e-07 9.99990815e-01 -1.59352602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:0.01, Z:-0.16 [[ 9.99328359e-01 -3.63934696e-02 -4.28325967e-03 1.27173640e+01] [ 3.63931570e-02 9.99337538e-01 -1.50934994e-04 9.69744283e-03] [ 4.28591523e-03 -5.04772191e-06 9.99990815e-01 -1.58790266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:0.01, Z:-0.16 [[ 9.99244108e-01 -3.86376254e-02 -4.28322983e-03 1.27449360e+01] [ 3.86373297e-02 9.99253288e-01 -1.51777317e-04 9.81896613e-03] [ 4.28589580e-03 -1.38299734e-05 9.99990815e-01 -1.58291193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.77, Y:0.01, Z:-0.16 [[ 9.99186693e-01 -4.00949784e-02 -4.28322053e-03 1.27732457e+01] [ 4.00946951e-02 9.99195873e-01 -1.52039204e-04 1.01107219e-02] [ 4.28587228e-03 -1.98188720e-05 9.99990815e-01 -1.56256351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.80, Y:0.01, Z:-0.16 [[ 9.99128507e-01 -4.15196468e-02 -4.28321132e-03 1.28015633e+01] [ 4.15193754e-02 9.99137687e-01 -1.52298260e-04 1.03439818e-02] [ 4.28584122e-03 -2.56707252e-05 9.99990815e-01 -1.55863177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:0.01, Z:-0.15 [[ 9.99018257e-01 -4.40928275e-02 -4.28318178e-03 1.28291924e+01] [ 4.40925762e-02 9.99027438e-01 -1.53124627e-04 1.06248600e-02] [ 4.28576781e-03 -3.58822207e-05 9.99990815e-01 -1.54300446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.86, Y:0.01, Z:-0.15 [[ 9.98965423e-01 -4.52740358e-02 -4.28317258e-03 1.28558622e+01] [ 4.52737943e-02 9.98974604e-01 -1.53381545e-04 1.08655071e-02] [ 4.28572483e-03 -4.06926146e-05 9.99990815e-01 -1.53991802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.88, Y:0.01, Z:-0.15 [[ 9.98905723e-01 -4.65726428e-02 -4.28315983e-03 1.28839808e+01] [ 4.65724116e-02 9.98914905e-01 -1.53736680e-04 1.13621395e-02] [ 4.28567212e-03 -4.59086330e-05 9.99990815e-01 -1.51807651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.91, Y:0.01, Z:-0.15 [[ 9.98850493e-01 -4.77425039e-02 -4.28312892e-03 1.29114325e+01] [ 4.77422798e-02 9.98859675e-01 -1.54593015e-04 1.05791043e-02] [ 4.28562542e-03 -5.00710303e-05 9.99990815e-01 -1.51077030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:0.01, Z:-0.15 [[ 9.98841148e-01 -4.79376162e-02 -4.28311932e-03 1.29399176e+01] [ 4.79373928e-02 9.98850330e-01 -1.54858540e-04 1.17968770e-02] [ 4.28561870e-03 -5.06424915e-05 9.99990815e-01 -1.50954873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.97, Y:0.01, Z:-0.15 [[ 9.98831614e-01 -4.81358808e-02 -4.28308891e-03 1.29679208e+01] [ 4.81356557e-02 9.98840795e-01 -1.55695192e-04 1.19945647e-02] [ 4.28561846e-03 -5.06560135e-05 9.99990815e-01 -1.51521356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.00, Y:0.01, Z:-0.15 [[ 9.98838388e-01 -4.79951037e-02 -4.28305828e-03 1.29953487e+01] [ 4.79948737e-02 9.98847570e-01 -1.56533257e-04 1.21247395e-02] [ 4.28563518e-03 -4.92134146e-05 9.99990815e-01 -1.53049037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.02, Y:0.01, Z:-0.15 [[ 9.98876261e-01 -4.72003249e-02 -4.28304492e-03 1.30245392e+01] [ 4.72000860e-02 9.98885443e-01 -1.56897979e-04 1.02880970e-02] [ 4.28567685e-03 -4.54384217e-05 9.99990815e-01 -1.54462432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:0.01, Z:-0.16 [[ 9.98904195e-01 -4.66054263e-02 -4.28301807e-03 1.30523537e+01] [ 4.66051788e-02 9.98913376e-01 -1.57627375e-04 1.03221271e-02] [ 4.28571033e-03 -4.21561775e-05 9.99990815e-01 -1.55228455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.08, Y:0.01, Z:-0.16 [[ 9.98938308e-01 -4.58684276e-02 -4.28298708e-03 1.30790746e+01] [ 4.58681698e-02 9.98947489e-01 -1.58464931e-04 1.07895176e-02] [ 4.28574773e-03 -3.81560886e-05 9.99990815e-01 -1.56342756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.11, Y:0.01, Z:-0.16 [[ 9.98963099e-01 -4.53252953e-02 -4.28297357e-03 1.31069517e+01] [ 4.53250309e-02 9.98972280e-01 -1.58829308e-04 1.11735541e-02] [ 4.28577086e-03 -3.54612915e-05 9.99990815e-01 -1.55841286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:0.01, Z:-0.16 [[ 9.99040196e-01 -4.35929146e-02 -4.28294292e-03 1.31337497e+01] [ 4.35926308e-02 9.99049377e-01 -1.59651502e-04 9.95762099e-03] [ 4.28583113e-03 -2.72064820e-05 9.99990815e-01 -1.56863203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.16, Y:0.01, Z:-0.15 [[ 9.99063299e-01 -4.30602060e-02 -4.28292958e-03 1.31614340e+01] [ 4.30599157e-02 9.99072479e-01 -1.60008681e-04 1.10437230e-02] [ 4.28584708e-03 -2.45637861e-05 9.99990815e-01 -1.54808560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:13.19, Y:0.01, Z:-0.15 [[ 9.99082472e-01 -4.26130280e-02 -4.28289898e-03 1.31893690e+01] [ 4.26127302e-02 9.99091652e-01 -1.60823534e-04 1.22274023e-02] [ 4.28586180e-03 -2.18300451e-05 9.99990815e-01 -1.54369318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.22, Y:0.01, Z:-0.16 [[ 9.99121724e-01 -4.16825854e-02 -4.28286774e-03 1.32163345e+01] [ 4.16822754e-02 9.99130903e-01 -1.61651365e-04 1.09039935e-02] [ 4.28588356e-03 -1.70102817e-05 9.99990815e-01 -1.56471170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:0.01, Z:-0.15 [[ 9.99141284e-01 -4.12110585e-02 -4.28285411e-03 1.32439273e+01] [ 4.12107426e-02 9.99150463e-01 -1.62011591e-04 1.11380508e-02] [ 4.28589234e-03 -1.46271298e-05 9.99990815e-01 -1.54797635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.298623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:0.01, Z:-0.15 [[ 9.99160740e-01 -4.07366319e-02 -4.28282293e-03 1.32721373e+01] [ 4.07363082e-02 9.99169919e-01 -1.62831644e-04 1.20202435e-02] [ 4.28590105e-03 -1.17714094e-05 9.99990815e-01 -1.54442908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:0.01, Z:-0.15 [[ 9.99196849e-01 -3.98411212e-02 -4.28279169e-03 1.33005654e+01] [ 3.98407857e-02 9.99206027e-01 -1.63649174e-04 1.23511055e-02] [ 4.28591124e-03 -7.11204715e-06 9.99990815e-01 -1.54674725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:0.01, Z:-0.15 [[ 9.99203867e-01 -3.96647150e-02 -4.28276044e-03 1.33288620e+01] [ 3.96643744e-02 9.99213046e-01 -1.64462989e-04 1.30099285e-02] [ 4.28591348e-03 -5.54095867e-06 9.99990815e-01 -1.54024827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:0.01, Z:-0.15 [[ 9.99221079e-01 -3.92287450e-02 -4.28272892e-03 1.33580639e+01] [ 3.92283969e-02 9.99230257e-01 -1.65279763e-04 1.37659532e-02] [ 4.28591604e-03 -2.85356662e-06 9.99990815e-01 -1.51623891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.39, Y:0.01, Z:-0.15 [[ 9.99241942e-01 -3.86936770e-02 -4.28270049e-03 1.33858849e+01] [ 3.86933208e-02 9.99251119e-01 -1.66013308e-04 1.46783093e-02] [ 4.28591692e-03 1.75556275e-07 9.99990815e-01 -1.51008013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.41, Y:0.02, Z:-0.15 [[ 9.99267723e-01 -3.80220507e-02 -4.28269039e-03 1.34128436e+01] [ 3.80216873e-02 9.99276900e-01 -1.66273386e-04 1.57753750e-02] [ 4.28591563e-03 3.31651351e-06 9.99990815e-01 -1.51109256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.478623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.44, Y:0.02, Z:-0.15 [[ 9.99328888e-01 -3.63790047e-02 -4.28267651e-03 1.34411548e+01] [ 3.63786247e-02 9.99338065e-01 -1.66629996e-04 1.81518497e-02] [ 4.28590349e-03 1.07202870e-05 9.99990815e-01 -1.51639339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.47, Y:0.02, Z:-0.15 [[ 9.99370210e-01 -3.52255959e-02 -4.28264567e-03 1.34690442e+01] [ 3.52252019e-02 9.99379386e-01 -1.67418996e-04 2.00535394e-02] [ 4.28588523e-03 1.64564989e-05 9.99990815e-01 -1.51182876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:0.02, Z:-0.15 [[ 9.99413878e-01 -3.39641079e-02 -4.28261367e-03 1.34971078e+01] [ 3.39636988e-02 9.99423053e-01 -1.68233523e-04 2.20300784e-02] [ 4.28585673e-03 2.26815165e-05 9.99990815e-01 -1.51346705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:0.02, Z:-0.15 [[ 9.99463854e-01 -3.24602028e-02 -4.28258121e-03 1.35243563e+01] [ 3.24597763e-02 9.99473028e-01 -1.69055986e-04 2.39312556e-02] [ 4.28581200e-03 2.99537187e-05 9.99990815e-01 -1.52002415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.598623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:13.55, Y:0.03, Z:-0.15 [[ 9.99551221e-01 -2.96482070e-02 -4.28256710e-03 1.35507999e+01] [ 2.96477533e-02 9.99560394e-01 -1.69412486e-04 2.75939014e-02] [ 4.28570724e-03 4.23679642e-05 9.99990815e-01 -1.50491284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.58, Y:0.03, Z:-0.15 [[ 9.99581663e-01 -2.86034680e-02 -4.28255307e-03 1.35789525e+01] [ 2.86030032e-02 9.99590836e-01 -1.69766610e-04 2.95826589e-02] [ 4.28565671e-03 4.72017111e-05 9.99990815e-01 -1.50719548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.61, Y:0.03, Z:-0.15 [[ 9.99601535e-01 -2.79003888e-02 -4.28251993e-03 1.36062538e+01] [ 2.78999140e-02 9.99610707e-01 -1.70598495e-04 3.22718568e-02] [ 4.28561254e-03 5.10485797e-05 9.99990815e-01 -1.51491834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:13.63, Y:0.04, Z:-0.15 [[ 9.99607584e-01 -2.76828039e-02 -4.28250544e-03 1.36333824e+01] [ 2.76823255e-02 9.99616756e-01 -1.70961252e-04 3.67240346e-02] [ 4.28559689e-03 5.23444547e-05 9.99990815e-01 -1.52176112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:0.04, Z:-0.15 [[ 9.99600369e-01 -2.79421319e-02 -4.28249115e-03 1.36615986e+01] [ 2.79416544e-02 9.99609541e-01 -1.71318620e-04 3.85328664e-02] [ 4.28560602e-03 5.15902681e-05 9.99990815e-01 -1.52636995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:13.69, Y:0.04, Z:-0.15 [[ 9.99553507e-01 -2.95710473e-02 -4.28245816e-03 1.36896840e+01] [ 2.95705812e-02 9.99562680e-01 -1.72139216e-04 4.28913684e-02] [ 4.28567570e-03 4.54275797e-05 9.99990815e-01 -1.50683212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:0.04, Z:-0.15 [[ 9.99544165e-01 -2.98851695e-02 -4.28242385e-03 1.37167141e+01] [ 2.98847027e-02 9.99553338e-01 -1.72988706e-04 4.42218160e-02] [ 4.28568085e-03 4.49308880e-05 9.99990815e-01 -1.52970345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:0.05, Z:-0.15 [[ 9.99537233e-01 -3.01161261e-02 -4.28240898e-03 1.37447254e+01] [ 3.01156598e-02 9.99546406e-01 -1.73356080e-04 4.66539661e-02] [ 4.28568731e-03 4.43082845e-05 9.99990815e-01 -1.54355571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:0.05, Z:-0.15 [[ 9.99513399e-01 -3.08970216e-02 -4.28239839e-03 1.37728284e+01] [ 3.08965613e-02 9.99522572e-01 -1.73617109e-04 5.12396674e-02] [ 4.28571811e-03 4.12212426e-05 9.99990815e-01 -1.54610994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.80, Y:0.05, Z:-0.16 [[ 9.99505612e-01 -3.11479201e-02 -4.28236435e-03 1.37993473e+01] [ 3.11474585e-02 9.99514785e-01 -1.74452697e-04 5.35748024e-02] [ 4.28572033e-03 4.09816839e-05 9.99990815e-01 -1.55060699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.83, Y:0.06, Z:-0.15 [[ 9.99479116e-01 -3.19868397e-02 -4.28234948e-03 1.38271071e+01] [ 3.19863842e-02 9.99488289e-01 -1.74817021e-04 5.59198893e-02] [ 4.28575000e-03 3.77490859e-05 9.99990815e-01 -1.54909329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:0.06, Z:-0.15 [[ 9.99448599e-01 -3.29265868e-02 -4.28231534e-03 1.38554065e+01] [ 3.29261365e-02 9.99457772e-01 -1.75649497e-04 5.77453551e-02] [ 4.28577688e-03 3.45525446e-05 9.99990815e-01 -1.53811832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:0.06, Z:-0.15 [[ 9.99371986e-01 -3.51752106e-02 -4.28228086e-03 1.38834698e+01] [ 3.51747773e-02 9.99381160e-01 -1.76486134e-04 6.05392575e-02] [ 4.28583875e-03 2.57470230e-05 9.99990815e-01 -1.53092298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:0.06, Z:-0.15 [[ 9.99325606e-01 -3.64690931e-02 -4.28227013e-03 1.39102695e+01] [ 3.64686705e-02 9.99334781e-01 -1.76746095e-04 6.26523730e-02] [ 4.28586725e-03 2.04582000e-05 9.99990815e-01 -1.53429529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:0.07, Z:-0.15 [[ 9.99237395e-01 -3.88109578e-02 -4.28224600e-03 1.39382441e+01] [ 3.88105543e-02 9.99246571e-01 -1.77328573e-04 6.60024578e-02] [ 4.28590193e-03 1.09970004e-05 9.99990815e-01 -1.53072902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.97, Y:0.07, Z:-0.15 [[ 9.99191263e-01 -3.99810377e-02 -4.28221174e-03 1.39666054e+01] [ 3.99806414e-02 9.99200439e-01 -1.78152136e-04 6.82441128e-02] [ 4.28591056e-03 6.80248522e-06 9.99990815e-01 -1.52588909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:0.07, Z:-0.15 [[ 9.99159853e-01 -4.07584557e-02 -4.28217670e-03 1.39934984e+01] [ 4.07580629e-02 9.99169029e-01 -1.78990460e-04 7.00447978e-02] [ 4.28591371e-03 4.30685434e-06 9.99990815e-01 -1.53940841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:0.07, Z:-0.15 [[ 9.99126209e-01 -4.15750097e-02 -4.28215244e-03 1.40208672e+01] [ 4.15746219e-02 9.99135386e-01 -1.79568992e-04 7.30320756e-02] [ 4.28591561e-03 1.38321768e-06 9.99990815e-01 -1.54996467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:0.08, Z:-0.16 [[ 9.99112783e-01 -4.18964312e-02 -4.28214188e-03 1.40489767e+01] [ 4.18960453e-02 9.99121959e-01 -1.79820562e-04 7.55025776e-02] [ 4.28591582e-03 2.56211670e-07 9.99990815e-01 -1.56458356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:0.08, Z:-0.16 [[ 9.99108231e-01 -4.20048264e-02 -4.28212583e-03 1.40767380e+01] [ 4.20044399e-02 9.99117408e-01 -1.80201959e-04 7.81182749e-02] [ 4.28591581e-03 1.72963610e-07 9.99990815e-01 -1.55800259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:0.08, Z:-0.16 [[ 9.99114812e-01 -4.18480193e-02 -4.28209079e-03 1.41043223e+01] [ 4.18476278e-02 9.99123988e-01 -1.81030686e-04 8.08602485e-02] [ 4.28591540e-03 1.67509811e-06 9.99990815e-01 -1.55557016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228623853000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:14.13, Y:0.09, Z:-0.15 [[ 9.99129874e-01 -4.14868486e-02 -4.28205561e-03 1.41330730e+01] [ 4.14864502e-02 9.99139050e-01 -1.81859125e-04 8.60748603e-02] [ 4.28591373e-03 4.05359836e-06 9.99990815e-01 -1.52312147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:0.09, Z:-0.15 [[ 9.99140318e-01 -4.12345746e-02 -4.28202463e-03 1.41605281e+01] [ 4.12341708e-02 9.99149493e-01 -1.82585651e-04 8.83289125e-02] [ 4.28591158e-03 5.86295039e-06 9.99990815e-01 -1.52769360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.19, Y:0.09, Z:-0.15 [[ 9.99120345e-01 -4.17157228e-02 -4.28201361e-03 1.41893499e+01] [ 4.17153222e-02 9.99129520e-01 -1.82843681e-04 9.13750754e-02] [ 4.28591366e-03 4.05726407e-06 9.99990815e-01 -1.49519037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:0.09, Z:-0.15 [[ 9.99085001e-01 -4.25537936e-02 -4.28198319e-03 1.42171470e+01] [ 4.25533978e-02 9.99094177e-01 -1.83553334e-04 9.31302831e-02] [ 4.28591536e-03 1.17244871e-06 9.99990815e-01 -1.49119504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.10, Z:-0.15 [[ 9.99054784e-01 -4.32574002e-02 -4.28194773e-03 1.42443495e+01] [ 4.32570072e-02 9.99063961e-01 -1.84376846e-04 9.50824520e-02] [ 4.28591532e-03 -1.02167426e-06 9.99990815e-01 -1.50751842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.27, Y:0.10, Z:-0.15 [[ 9.98947389e-01 -4.56703210e-02 -4.28193229e-03 1.42726806e+01] [ 4.56699487e-02 9.98956566e-01 -1.84734795e-04 9.90063222e-02] [ 4.28590127e-03 -1.10152870e-05 9.99990815e-01 -1.50378571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:14.30, Y:0.10, Z:-0.15 [[ 9.98882311e-01 -4.70722124e-02 -4.28189536e-03 1.42993101e+01] [ 4.70718493e-02 9.98891489e-01 -1.85586816e-04 1.00903106e-01] [ 4.28588481e-03 -1.61773454e-05 9.99990815e-01 -1.51445946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:0.10, Z:-0.15 [[ 9.98747181e-01 -4.98571355e-02 -4.28187928e-03 1.43268314e+01] [ 4.98567964e-02 9.98756359e-01 -1.85957050e-04 1.01475263e-01] [ 4.28582545e-03 -2.77567039e-05 9.99990815e-01 -1.52996690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.35, Y:0.10, Z:-0.15 [[ 9.98685134e-01 -5.10849254e-02 -4.28184234e-03 1.43539525e+01] [ 5.10845939e-02 9.98694312e-01 -1.86803872e-04 1.02888047e-01] [ 4.28579445e-03 -3.21779276e-05 9.99990815e-01 -1.53862936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.38, Y:0.10, Z:-0.15 [[ 9.98635323e-01 -5.20495771e-02 -4.28182625e-03 1.43814744e+01] [ 5.20492530e-02 9.98644501e-01 -1.87171778e-04 1.04796291e-01] [ 4.28576446e-03 -3.59495087e-05 9.99990815e-01 -1.52158124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:0.11, Z:-0.16 [[ 9.98609587e-01 -5.25410235e-02 -4.28178959e-03 1.44083404e+01] [ 5.25407004e-02 9.98618766e-01 -1.88006761e-04 1.06926145e-01] [ 4.28575350e-03 -3.72228695e-05 9.99990815e-01 -1.55509980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:0.11, Z:-0.15 [[ 9.98579376e-01 -5.31121043e-02 -4.28177360e-03 1.44366218e+01] [ 5.31117848e-02 9.98588555e-01 -1.88370232e-04 1.08039447e-01] [ 4.28573485e-03 -3.93100089e-05 9.99990815e-01 -1.50589534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:14.46, Y:0.11, Z:-0.15 [[ 9.98560238e-01 -5.34707129e-02 -4.28173645e-03 1.44644037e+01] [ 5.34703931e-02 9.98569417e-01 -1.89210828e-04 1.09426058e-01] [ 4.28572831e-03 -4.00077219e-05 9.99990815e-01 -1.48725651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618623853 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:14.49, Y:0.11, Z:-0.15 [[ 9.98538102e-01 -5.38825244e-02 -4.28172490e-03 1.44927433e+01] [ 5.38822072e-02 9.98547281e-01 -1.89471892e-04 1.10934840e-01] [ 4.28571398e-03 -4.15138856e-05 9.99990815e-01 -1.45965536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.52, Y:0.11, Z:-0.15 [[ 9.98480852e-01 -5.49331953e-02 -4.28168725e-03 1.45203599e+01] [ 5.49328842e-02 9.98490031e-01 -1.90319042e-04 1.11816617e-01] [ 4.28567686e-03 -4.51755108e-05 9.99990815e-01 -1.46930651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:14.55, Y:0.11, Z:-0.15 [[ 9.98446747e-01 -5.55496264e-02 -4.28167557e-03 1.45483357e+01] [ 5.55493199e-02 9.98455926e-01 -1.90581418e-04 1.12159808e-01] [ 4.28565107e-03 -4.75587687e-05 9.99990815e-01 -1.46120418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.58, Y:0.11, Z:-0.15 [[ 9.98390802e-01 -5.65462160e-02 -4.28163931e-03 1.45761860e+01] [ 5.65459151e-02 9.98399981e-01 -1.91392543e-04 1.11296913e-01] [ 4.28561113e-03 -5.10246587e-05 9.99990815e-01 -1.47988966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.11, Z:-0.15 [[ 9.98288784e-01 -5.83195636e-02 -4.28160263e-03 1.46044824e+01] [ 5.83192755e-02 9.98297964e-01 -1.92209573e-04 1.09814096e-01] [ 4.28552477e-03 -5.78193029e-05 9.99990815e-01 -1.47956283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:14.63, Y:0.11, Z:-0.15 [[ 9.98242708e-01 -5.91029973e-02 -4.28156509e-03 1.46324265e+01] [ 5.91027128e-02 9.98251888e-01 -1.93042186e-04 1.11039563e-01] [ 4.28548981e-03 -6.03491572e-05 9.99990815e-01 -1.46136815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:0.11, Z:-0.15 [[ 9.98204036e-01 -5.97525838e-02 -4.28152764e-03 1.46606805e+01] [ 5.97523018e-02 9.98213216e-01 -1.93869276e-04 1.10638520e-01] [ 4.28546167e-03 -6.23100382e-05 9.99990815e-01 -1.48081919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.69, Y:0.11, Z:-0.15 [[ 9.98192508e-01 -5.99448492e-02 -4.28149020e-03 1.46891485e+01] [ 5.99445654e-02 9.98201689e-01 -1.94692561e-04 1.12125096e-01] [ 4.28546157e-03 -6.23114137e-05 9.99990815e-01 -1.47959845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:0.11, Z:-0.15 [[ 9.98175785e-01 -6.02226891e-02 -4.28145254e-03 1.47172614e+01] [ 6.02224043e-02 9.98184965e-01 -1.95517214e-04 1.10038269e-01] [ 4.28545613e-03 -6.26788174e-05 9.99990815e-01 -1.45757185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.74, Y:0.11, Z:-0.14 [[ 9.98166281e-01 -6.03800088e-02 -4.28144084e-03 1.47444156e+01] [ 6.03797244e-02 9.98175461e-01 -1.95773107e-04 1.10805763e-01] [ 4.28544997e-03 -6.30981042e-05 9.99990815e-01 -1.43647480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:0.11, Z:-0.15 [[ 9.98172399e-01 -6.02787791e-02 -4.28142466e-03 1.47720037e+01] [ 6.02784923e-02 9.98181579e-01 -1.96126500e-04 1.10467270e-01] [ 4.28546149e-03 -6.23097644e-05 9.99990815e-01 -1.45255392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:0.11, Z:-0.15 [[ 9.98198775e-01 -5.98404135e-02 -4.28138816e-03 1.48005000e+01] [ 5.98401192e-02 9.98207955e-01 -1.96920027e-04 1.11213193e-01] [ 4.28549949e-03 -5.96334486e-05 9.99990815e-01 -1.45479004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.83, Y:0.11, Z:-0.15 [[ 9.98258025e-01 -5.88437436e-02 -4.28135330e-03 1.48281061e+01] [ 5.88434369e-02 9.98267204e-01 -1.97675039e-04 1.09485869e-01] [ 4.28556653e-03 -5.45988484e-05 9.99990815e-01 -1.47221253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.86, Y:0.11, Z:-0.14 [[ 9.98283947e-01 -5.84023143e-02 -4.28134177e-03 1.48566017e+01] [ 5.84020025e-02 9.98293127e-01 -1.97924461e-04 1.09447022e-01] [ 4.28559331e-03 -5.24541204e-05 9.99990815e-01 -1.43949425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:0.11, Z:-0.15 [[ 9.98412873e-01 -5.61551976e-02 -4.28130183e-03 1.48844911e+01] [ 5.61548614e-02 9.98422051e-01 -1.98784687e-04 1.07474620e-01] [ 4.28570894e-03 -4.19467200e-05 9.99990815e-01 -1.49032844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:0.11, Z:-0.15 [[ 9.98487016e-01 -5.48210651e-02 -4.28128939e-03 1.49126402e+01] [ 5.48207155e-02 9.98496194e-01 -1.99052125e-04 1.08629323e-01] [ 4.28576341e-03 -3.59523849e-05 9.99990815e-01 -1.46569678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.94, Y:0.11, Z:-0.15 [[ 9.98571762e-01 -5.32551189e-02 -4.28125015e-03 1.49396341e+01] [ 5.32547513e-02 9.98580939e-01 -1.99892625e-04 1.09055630e-01] [ 4.28582010e-03 -2.83897808e-05 9.99990815e-01 -1.47844109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.97, Y:0.11, Z:-0.15 [[ 9.98744843e-01 -4.99040119e-02 -4.28122338e-03 1.49678320e+01] [ 4.99036111e-02 9.98754018e-01 -2.00464263e-04 1.08461787e-01] [ 4.28589303e-03 -1.34358579e-05 9.99990815e-01 -1.47263395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:15.00, Y:0.11, Z:-0.14 [[ 9.98815301e-01 -4.84733552e-02 -4.28118454e-03 1.49960719e+01] [ 4.84729377e-02 9.98824476e-01 -2.01290384e-04 1.09881170e-01] [ 4.28590913e-03 -6.46967575e-06 9.99990815e-01 -1.44649373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:0.11, Z:-0.15 [[ 9.98875654e-01 -4.72133359e-02 -4.28114562e-03 1.50243564e+01] [ 4.72129033e-02 9.98884829e-01 -2.02114839e-04 1.10328476e-01] [ 4.28591392e-03 -2.37721446e-07 9.99990815e-01 -1.46274715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.05, Y:0.11, Z:-0.15 [[ 9.98945559e-01 -4.57104080e-02 -4.28110655e-03 1.50515295e+01] [ 4.57099580e-02 9.98954733e-01 -2.02939085e-04 1.11936940e-01] [ 4.28590807e-03 7.03589762e-06 9.99990815e-01 -1.46325875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:0.11, Z:-0.15 [[ 9.98932968e-01 -4.59847616e-02 -4.28107947e-03 1.50795245e+01] [ 4.59843117e-02 9.98942141e-01 -2.03508730e-04 1.11983033e-01] [ 4.28590899e-03 6.42908726e-06 9.99990815e-01 -1.46795660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:0.11, Z:-0.15 [[ 9.98917267e-01 -4.63245734e-02 -4.28104020e-03 1.51068052e+01] [ 4.63241232e-02 9.98926441e-01 -2.04331451e-04 1.11695940e-01] [ 4.28590982e-03 5.79478111e-06 9.99990815e-01 -1.46788014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:0.11, Z:-0.15 [[ 9.98829246e-01 -4.81851596e-02 -4.28102317e-03 1.51344621e+01] [ 4.81847249e-02 9.98838421e-01 -2.04687499e-04 1.10811929e-01] [ 4.28591333e-03 -1.83206349e-06 9.99990815e-01 -1.46769582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.16, Y:0.11, Z:-0.15 [[ 9.98771635e-01 -4.93648999e-02 -4.28098432e-03 1.51615616e+01] [ 4.93644725e-02 9.98780810e-01 -2.05497035e-04 1.11055995e-01] [ 4.28590932e-03 -6.08392278e-06 9.99990815e-01 -1.47249889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.19, Y:0.11, Z:-0.15 [[ 9.98695536e-01 -5.08812335e-02 -4.28096744e-03 1.51899136e+01] [ 5.08808186e-02 9.98704711e-01 -2.05847885e-04 1.11083180e-01] [ 4.28589615e-03 -1.22397645e-05 9.99990815e-01 -1.46579341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:0.11, Z:-0.15 [[ 9.98613586e-01 -5.24650220e-02 -4.28092856e-03 1.52181462e+01] [ 5.24646181e-02 9.98622762e-01 -2.06653313e-04 1.10866289e-01] [ 4.28587478e-03 -1.82304759e-05 9.99990815e-01 -1.46069539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:15.24, Y:0.11, Z:-0.14 [[ 9.98494357e-01 -5.46872326e-02 -4.28088868e-03 1.52449384e+01] [ 5.46868457e-02 9.98503533e-01 -2.07476206e-04 1.10103837e-01] [ 4.28582877e-03 -2.69444782e-05 9.99990815e-01 -1.43112199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.458623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.11, Z:-0.15 [[ 9.98469129e-01 -5.51459204e-02 -4.28087135e-03 1.52731320e+01] [ 5.51455361e-02 9.98478306e-01 -2.07833214e-04 1.09277457e-01] [ 4.28581833e-03 -2.85558980e-05 9.99990815e-01 -1.45151002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:0.11, Z:-0.14 [[ 9.98425711e-01 -5.59265073e-02 -4.28083214e-03 1.53015432e+01] [ 5.59261267e-02 9.98434888e-01 -2.08637636e-04 1.06695715e-01] [ 4.28580054e-03 -3.11011808e-05 9.99990815e-01 -1.44675612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:0.11, Z:-0.15 [[ 9.98409908e-01 -5.62079130e-02 -4.28079270e-03 1.53290923e+01] [ 5.62075316e-02 9.98419085e-01 -2.09443897e-04 1.06391947e-01] [ 4.28579753e-03 -3.15019292e-05 9.99990815e-01 -1.45090525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.36, Y:0.11, Z:-0.14 [[ 9.98385491e-01 -5.66399638e-02 -4.28076562e-03 1.53567353e+01] [ 5.66395840e-02 9.98394668e-01 -2.09995927e-04 1.06416796e-01] [ 4.28578773e-03 -3.28038964e-05 9.99990815e-01 -1.44165385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:0.11, Z:-0.15 [[ 9.98391381e-01 -5.65360505e-02 -4.28072491e-03 1.53839589e+01] [ 5.65356662e-02 9.98400558e-01 -2.10822379e-04 1.05184029e-01] [ 4.28579721e-03 -3.15303885e-05 9.99990815e-01 -1.45354980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:0.10, Z:-0.14 [[ 9.98392315e-01 -5.65195643e-02 -4.28070715e-03 1.54121783e+01] [ 5.65191783e-02 9.98401491e-01 -2.11182424e-04 1.04975672e-01] [ 4.28580034e-03 -3.10991415e-05 9.99990815e-01 -1.44972071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.638623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:0.10, Z:-0.14 [[ 9.98396247e-01 -5.64500645e-02 -4.28066657e-03 1.54400851e+01] [ 5.64496743e-02 9.98405423e-01 -2.12001789e-04 1.04248157e-01] [ 4.28580824e-03 -2.99804433e-05 9.99990815e-01 -1.44737581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:0.10, Z:-0.15 [[ 9.98460249e-01 -5.53064855e-02 -4.28062565e-03 1.54684447e+01] [ 5.53060813e-02 9.98469425e-01 -2.12824908e-04 1.01645093e-01] [ 4.28584443e-03 -2.42474195e-05 9.99990815e-01 -1.46670458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:0.10, Z:-0.15 [[ 9.98486291e-01 -5.48343235e-02 -4.28060647e-03 1.54963588e+01] [ 5.48339133e-02 9.98495466e-01 -2.13209950e-04 1.01832090e-01] [ 4.28585738e-03 -2.18351916e-05 9.99990815e-01 -1.45586364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:0.10, Z:-0.15 [[ 9.98534297e-01 -5.39530807e-02 -4.28056422e-03 1.55230548e+01] [ 5.39526588e-02 9.98543472e-01 -2.14054777e-04 1.01888755e-01] [ 4.28587838e-03 -1.72067848e-05 9.99990815e-01 -1.48183673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:0.10, Z:-0.15 [[ 9.98582992e-01 -5.30441729e-02 -4.28054579e-03 1.55507213e+01] [ 5.30437411e-02 9.98592167e-01 -2.14422812e-04 1.01650194e-01] [ 4.28589337e-03 -1.29371890e-05 9.99990815e-01 -1.45893881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.58, Y:0.10, Z:-0.14 [[ 9.98731393e-01 -5.01725140e-02 -4.28050448e-03 1.55800843e+01] [ 5.01720523e-02 9.98740566e-01 -2.15244261e-04 1.00959913e-01] [ 4.28591282e-03 2.09505725e-07 9.99990815e-01 -1.44297971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.818623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:0.10, Z:-0.14 [[ 9.98818789e-01 -4.84015002e-02 -4.28046804e-03 1.56077005e+01] [ 4.84010191e-02 9.98827961e-01 -2.15966620e-04 1.01822944e-01] [ 4.28590427e-03 8.53250286e-06 9.99990815e-01 -1.43126315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:0.10, Z:-0.14 [[ 9.98918290e-01 -4.63025590e-02 -4.28042625e-03 1.56347806e+01] [ 4.63020551e-02 9.98927461e-01 -2.16791695e-04 1.02599565e-01] [ 4.28587333e-03 1.83646579e-05 9.99990815e-01 -1.44139223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:0.10, Z:-0.14 [[ 9.99086203e-01 -4.25257265e-02 -4.28040816e-03 1.56628136e+01] [ 4.25251864e-02 9.99095372e-01 -2.17148240e-04 1.01899825e-01] [ 4.28577037e-03 3.49246556e-05 9.99990815e-01 -1.42356885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.69, Y:0.10, Z:-0.14 [[ 9.99155641e-01 -4.08617525e-02 -4.28036616e-03 1.56901088e+01] [ 4.08611936e-02 9.99164809e-01 -2.17972962e-04 1.01935980e-01] [ 4.28569800e-03 4.28880447e-05 9.99990815e-01 -1.43684374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.72, Y:0.10, Z:-0.14 [[ 9.99221579e-01 -3.92162595e-02 -4.28034793e-03 1.57184551e+01] [ 3.92156840e-02 9.99230745e-01 -2.18330453e-04 1.02030204e-01] [ 4.28561735e-03 5.03037282e-05 9.99990815e-01 -1.44417976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.75, Y:0.10, Z:-0.14 [[ 9.99347555e-01 -3.58628257e-02 -4.28033551e-03 1.57467077e+01] [ 3.58622184e-02 9.99356720e-01 -2.18573687e-04 1.02653539e-01] [ 4.28542072e-03 6.49287527e-05 9.99990815e-01 -1.42748232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.78, Y:0.10, Z:-0.14 [[ 9.99407599e-01 -3.41486476e-02 -4.28029470e-03 1.57750437e+01] [ 3.41480212e-02 9.99416762e-01 -2.19369959e-04 1.03690120e-01] [ 4.28528945e-03 7.30764099e-05 9.99990815e-01 -1.41751501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:0.10, Z:-0.14 [[ 9.99455186e-01 -3.27263037e-02 -4.28028199e-03 1.58033274e+01] [ 3.27256631e-02 9.99464348e-01 -2.19617623e-04 1.04851727e-01] [ 4.28517652e-03 7.94229060e-05 9.99990815e-01 -1.40803753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.83, Y:0.11, Z:-0.14 [[ 9.99532393e-01 -3.02766395e-02 -4.28026937e-03 1.58311219e+01] [ 3.02759755e-02 9.99541553e-01 -2.19863265e-04 1.06353290e-01] [ 4.28496382e-03 9.01711250e-05 9.99990815e-01 -1.41005854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:0.11, Z:-0.14 [[ 9.99556751e-01 -2.94615270e-02 -4.28022910e-03 1.58586342e+01] [ 2.94608521e-02 9.99565911e-01 -2.20644444e-04 1.08001640e-01] [ 4.28487162e-03 9.44474467e-05 9.99990815e-01 -1.41133808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.89, Y:0.11, Z:-0.14 [[ 9.99601114e-01 -2.79158198e-02 -4.28018796e-03 1.58863871e+01] [ 2.79151274e-02 9.99610272e-01 -2.21439731e-04 1.09174156e-01] [ 4.28470152e-03 1.01869409e-04 9.99990815e-01 -1.41368654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.91, Y:0.11, Z:-0.14 [[ 9.99620178e-01 -2.72246163e-02 -4.28014597e-03 1.59144525e+01] [ 2.72239141e-02 9.99629336e-01 -2.22248378e-04 1.10753070e-01] [ 4.28461010e-03 1.05641637e-04 9.99990815e-01 -1.43597154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:0.11, Z:-0.14 [[ 9.99638760e-01 -2.65335599e-02 -4.28013299e-03 1.59428593e+01] [ 2.65328503e-02 9.99647917e-01 -2.22498036e-04 1.12936146e-01] [ 4.28452969e-03 1.08853533e-04 9.99990815e-01 -1.44520040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.12, Z:-0.14 [[ 9.99658356e-01 -2.57847446e-02 -4.28009328e-03 1.59711705e+01] [ 2.57840249e-02 9.99667512e-01 -2.23259288e-04 1.15134354e-01] [ 4.28442688e-03 1.12824981e-04 9.99990815e-01 -1.43613418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.00, Y:0.12, Z:-0.14 [[ 9.99672640e-01 -2.52248707e-02 -4.28005097e-03 1.59985011e+01] [ 2.52241424e-02 9.99681796e-01 -2.24067456e-04 1.18367681e-01] [ 4.28434111e-03 1.16033490e-04 9.99990815e-01 -1.43853872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:0.12, Z:-0.14 [[ 9.99662547e-01 -2.56217284e-02 -4.28003262e-03 1.60261953e+01] [ 2.56210022e-02 9.99671703e-01 -2.24417387e-04 1.21769596e-01] [ 4.28437746e-03 1.14682931e-04 9.99990815e-01 -1.42562541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.298623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.05, Y:0.12, Z:-0.14 [[ 9.99656435e-01 -2.58590980e-02 -4.27998998e-03 1.60529095e+01] [ 2.58583705e-02 9.99665591e-01 -2.25227735e-04 1.24650079e-01] [ 4.28438290e-03 1.14476788e-04 9.99990815e-01 -1.44512997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.08, Y:0.13, Z:-0.14 [[ 9.99620593e-01 -2.72094181e-02 -4.27997146e-03 1.60811867e+01] [ 2.72087015e-02 9.99629749e-01 -2.25579229e-04 1.28307543e-01] [ 4.28452467e-03 1.09041176e-04 9.99990815e-01 -1.42466267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.11, Y:0.13, Z:-0.14 [[ 9.99596630e-01 -2.80759580e-02 -4.27992983e-03 1.61092223e+01] [ 2.80752460e-02 9.99605787e-01 -2.26366217e-04 1.31507911e-01] [ 4.28459808e-03 1.06114825e-04 9.99990815e-01 -1.41291562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.14, Y:0.14, Z:-0.14 [[ 9.99523612e-01 -3.05652050e-02 -4.27988666e-03 1.61373242e+01] [ 3.05645123e-02 9.99532770e-01 -2.27179486e-04 1.36727902e-01] [ 4.28483076e-03 9.62586122e-05 9.99990815e-01 -1.40460620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.418623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:16.16, Y:0.14, Z:-0.14 [[ 9.99480743e-01 -3.19362922e-02 -4.27984258e-03 1.61643261e+01] [ 3.19356085e-02 9.99489902e-01 -2.28006873e-04 1.40201992e-01] [ 4.28494114e-03 9.12091021e-05 9.99990815e-01 -1.38078033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.19, Y:0.14, Z:-0.14 [[ 9.99419973e-01 -3.37846324e-02 -4.27982336e-03 1.61931916e+01] [ 3.37839641e-02 9.99429133e-01 -2.28367072e-04 1.43280785e-01] [ 4.28509545e-03 8.36452142e-05 9.99990815e-01 -1.39204699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.22, Y:0.15, Z:-0.14 [[ 9.99356973e-01 -3.55994919e-02 -4.27978499e-03 1.62203558e+01] [ 3.55988372e-02 9.99366134e-01 -2.29084034e-04 1.46607749e-01] [ 4.28522745e-03 7.65813581e-05 9.99990815e-01 -1.40591146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.25, Y:0.15, Z:-0.14 [[ 9.99196222e-01 -3.98571543e-02 -4.27975506e-03 1.62478057e+01] [ 3.98565362e-02 9.99205386e-01 -2.29641822e-04 1.51504878e-01] [ 4.28550717e-03 5.88810291e-05 9.99990815e-01 -1.39043148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.538623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:16.28, Y:0.15, Z:-0.14 [[ 9.99115172e-01 -4.18396671e-02 -4.27971169e-03 1.62758586e+01] [ 4.18390638e-02 9.99124336e-01 -2.30447288e-04 1.54959370e-01] [ 4.28560594e-03 5.11842513e-05 9.99990815e-01 -1.36212288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.30, Y:0.16, Z:-0.14 [[ 9.98968330e-01 -4.52101836e-02 -4.27966826e-03 1.63038998e+01] [ 4.52096078e-02 9.98977496e-01 -2.31251035e-04 1.59322521e-01] [ 4.28574718e-03 3.75303372e-05 9.99990815e-01 -1.38560966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.33, Y:0.16, Z:-0.14 [[ 9.98893842e-01 -4.68270891e-02 -4.27964764e-03 1.63316809e+01] [ 4.68265265e-02 9.98903010e-01 -2.31631978e-04 1.62260985e-01] [ 4.28579956e-03 3.09747236e-05 9.99990815e-01 -1.37913894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:0.16, Z:-0.14 [[ 9.98820366e-01 -4.83690188e-02 -4.27960407e-03 1.63593116e+01] [ 4.83684669e-02 9.98829534e-01 -2.32434143e-04 1.64964561e-01] [ 4.28583755e-03 2.51620681e-05 9.99990815e-01 -1.37065263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:0.17, Z:-0.14 [[ 9.98757825e-01 -4.96436630e-02 -4.27955867e-03 1.63870010e+01] [ 4.96431192e-02 9.98766993e-01 -2.33266998e-04 1.67598738e-01] [ 4.28586218e-03 2.05265978e-05 9.99990815e-01 -1.38821091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:0.17, Z:-0.14 [[ 9.98628040e-01 -5.21892954e-02 -4.27954452e-03 1.64143212e+01] [ 5.21887738e-02 9.98637210e-01 -2.33526312e-04 1.71401598e-01] [ 4.28589998e-03 9.86174213e-06 9.99990815e-01 -1.41133873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.44, Y:0.17, Z:-0.14 [[ 9.98555825e-01 -5.35532375e-02 -4.27950626e-03 1.64418734e+01] [ 5.35527255e-02 9.98564996e-01 -2.34225334e-04 1.74371027e-01] [ 4.28590868e-03 4.70784773e-06 9.99990815e-01 -1.41703310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:0.18, Z:-0.14 [[ 9.98369655e-01 -5.69185204e-02 -4.27946172e-03 1.64692164e+01] [ 5.69180358e-02 9.98378827e-01 -2.35036450e-04 1.77372949e-01] [ 4.28590189e-03 -8.92529567e-06 9.99990815e-01 -1.44831916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.50, Y:0.18, Z:-0.14 [[ 9.98359250e-01 -5.71007319e-02 -4.27942282e-03 1.64976721e+01] [ 5.71002459e-02 9.98368422e-01 -2.35742591e-04 1.79143656e-01] [ 4.28590168e-03 -9.00029875e-06 9.99990815e-01 -1.44709836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:0.18, Z:-0.14 [[ 9.98233128e-01 -5.92647414e-02 -4.27937965e-03 1.65259570e+01] [ 5.92642720e-02 9.98242300e-01 -2.36523615e-04 1.81180626e-01] [ 4.28587530e-03 -1.75086118e-05 9.99990815e-01 -1.44023337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.55, Y:0.18, Z:-0.14 [[ 9.98095754e-01 -6.15349780e-02 -4.27933452e-03 1.65541747e+01] [ 6.15345260e-02 9.98104927e-01 -2.37337247e-04 1.83476788e-01] [ 4.28582942e-03 -2.64415234e-05 9.99990815e-01 -1.44091903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868623853000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:16.58, Y:0.19, Z:-0.14 [[ 9.97872074e-01 -6.50615961e-02 -4.27928936e-03 1.65830267e+01] [ 6.50611730e-02 9.97881249e-01 -2.38148795e-04 1.85696091e-01] [ 4.28571695e-03 -4.07735538e-05 9.99990815e-01 -1.38366958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.898623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:16.61, Y:0.19, Z:-0.14 [[ 9.97805930e-01 -6.60682604e-02 -4.27924854e-03 1.66103516e+01] [ 6.60678435e-02 9.97815105e-01 -2.38880038e-04 1.87033354e-01] [ 4.28568122e-03 -4.43648049e-05 9.99990815e-01 -1.37245431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.64, Y:0.19, Z:-0.14 [[ 9.97736761e-01 -6.71047185e-02 -4.27922640e-03 1.66380501e+01] [ 6.71043094e-02 9.97745937e-01 -2.39275985e-04 1.88513578e-01] [ 4.28563730e-03 -4.84200860e-05 9.99990815e-01 -1.38438971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:0.19, Z:-0.14 [[ 9.97690974e-01 -6.77820673e-02 -4.27920479e-03 1.66670041e+01] [ 6.77816628e-02 9.97700150e-01 -2.39661866e-04 1.89838228e-01] [ 4.28560804e-03 -5.09431354e-05 9.99990815e-01 -1.37767096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:0.19, Z:-0.14 [[ 9.97641308e-01 -6.85091909e-02 -4.27916418e-03 1.66953655e+01] [ 6.85087899e-02 9.97650484e-01 -2.40384671e-04 1.90748173e-01] [ 4.28557878e-03 -5.33426827e-05 9.99990815e-01 -1.37162904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:0.19, Z:-0.14 [[ 9.97640696e-01 -6.85181058e-02 -4.27911740e-03 1.67222645e+01] [ 6.85177013e-02 9.97649872e-01 -2.41214638e-04 1.92258376e-01] [ 4.28558849e-03 -5.25497486e-05 9.99990815e-01 -1.39116165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:0.19, Z:-0.14 [[ 9.97658683e-01 -6.82557114e-02 -4.27908544e-03 1.67515057e+01] [ 6.82553021e-02 9.97667858e-01 -2.41780268e-04 1.93065799e-01] [ 4.28560889e-03 -5.08560860e-05 9.99990815e-01 -1.40470313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:0.19, Z:-0.14 [[ 9.97674463e-01 -6.80246701e-02 -4.27904685e-03 1.67793287e+01] [ 6.80242558e-02 9.97683638e-01 -2.42461305e-04 1.94033020e-01] [ 4.28562838e-03 -4.91815251e-05 9.99990815e-01 -1.39553649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:0.20, Z:-0.14 [[ 9.97686618e-01 -6.78461609e-02 -4.27900053e-03 1.68068369e+01] [ 6.78457415e-02 9.97695793e-01 -2.43276020e-04 1.95574706e-01] [ 4.28564617e-03 -4.75987336e-05 9.99990815e-01 -1.40427240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:0.20, Z:-0.14 [[ 9.97744110e-01 -6.69953825e-02 -4.27895407e-03 1.68344429e+01] [ 6.69949517e-02 9.97753285e-01 -2.44090455e-04 1.96975825e-01] [ 4.28569341e-03 -4.31285074e-05 9.99990815e-01 -1.42559483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:0.20, Z:-0.14 [[ 9.97752334e-01 -6.68728008e-02 -4.27893964e-03 1.68622380e+01] [ 6.68723678e-02 9.97761508e-01 -2.44343198e-04 1.97562747e-01] [ 4.28570118e-03 -4.23488297e-05 9.99990815e-01 -1.42054499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:0.20, Z:-0.14 [[ 9.97775115e-01 -6.65320265e-02 -4.27889320e-03 1.68906007e+01] [ 6.65315869e-02 9.97784289e-01 -2.45153802e-04 1.98140531e-01] [ 4.28572299e-03 -4.00731916e-05 9.99990815e-01 -1.40876467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.92, Y:0.20, Z:-0.14 [[ 9.97906178e-01 -6.45364410e-02 -4.27884545e-03 1.69172357e+01] [ 6.45359795e-02 9.97915351e-01 -2.45984344e-04 1.98899542e-01] [ 4.28580051e-03 -3.06701855e-05 9.99990815e-01 -1.41027681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.258623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:16.94, Y:0.20, Z:-0.14 [[ 9.97997313e-01 -6.31114559e-02 -4.27882470e-03 1.69443581e+01] [ 6.31109797e-02 9.98006485e-01 -2.46344830e-04 2.00976442e-01] [ 4.28584197e-03 -2.41893401e-05 9.99990815e-01 -1.37857297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:0.20, Z:-0.14 [[ 9.98105891e-01 -6.13703747e-02 -4.27880418e-03 1.69734455e+01] [ 6.13698810e-02 9.98115062e-01 -2.46700694e-04 2.02633329e-01] [ 4.28587901e-03 -1.63562873e-05 9.99990815e-01 -1.39957917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:0.20, Z:-0.14 [[ 9.98362927e-01 -5.70364648e-02 -4.27876348e-03 1.69999281e+01] [ 5.70359283e-02 9.98372096e-01 -2.47404510e-04 2.04556167e-01] [ 4.28590914e-03 2.95624353e-06 9.99990815e-01 -1.40309846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:0.21, Z:-0.14 [[ 9.98486550e-01 -5.48297573e-02 -4.27874327e-03 1.70279528e+01] [ 5.48291990e-02 9.98495717e-01 -2.47753593e-04 2.06784367e-01] [ 4.28589110e-03 1.27785640e-05 9.99990815e-01 -1.38163582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:17.06, Y:0.21, Z:-0.13 [[ 9.98594027e-01 -5.28361762e-02 -4.27869642e-03 1.70554789e+01] [ 5.28355962e-02 9.98603193e-01 -2.48560051e-04 2.09461721e-01] [ 4.28585287e-03 2.21431057e-05 9.99990815e-01 -1.33458211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.08, Y:0.21, Z:-0.14 [[ 9.98698058e-01 -5.08319038e-02 -4.27864828e-03 1.70834961e+01] [ 5.08313018e-02 9.98707223e-01 -2.49385962e-04 2.11112655e-01] [ 4.28579370e-03 3.15720136e-05 9.99990815e-01 -1.35941486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.11, Y:0.21, Z:-0.13 [[ 9.98826137e-01 -4.82497743e-02 -4.27863336e-03 1.71124932e+01] [ 4.82491475e-02 9.98835300e-01 -2.49641759e-04 2.13465105e-01] [ 4.28569519e-03 4.29083016e-05 9.99990815e-01 -1.31125338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:0.22, Z:-0.13 [[ 9.98853622e-01 -4.76774135e-02 -4.27859114e-03 1.71399532e+01] [ 4.76767784e-02 9.98862784e-01 -2.50363247e-04 2.15726852e-01] [ 4.28566213e-03 4.60867945e-05 9.99990815e-01 -1.30054274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:0.22, Z:-0.13 [[ 9.98834580e-01 -4.80746852e-02 -4.27857614e-03 1.71665998e+01] [ 4.80740526e-02 9.98843743e-01 -2.50619275e-04 2.17913112e-01] [ 4.28567745e-03 4.46387033e-05 9.99990815e-01 -1.30188876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.19, Y:0.22, Z:-0.13 [[ 9.98795407e-01 -4.88817848e-02 -4.27854308e-03 1.71941915e+01] [ 4.88811573e-02 9.98804570e-01 -2.51182430e-04 2.19846197e-01] [ 4.28570663e-03 4.17397202e-05 9.99990815e-01 -1.29893562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.22, Y:0.22, Z:-0.13 [[ 9.98746363e-01 -4.98738136e-02 -4.27849512e-03 1.72219395e+01] [ 4.98731916e-02 9.98755526e-01 -2.51996642e-04 2.21891798e-01] [ 4.28573868e-03 3.82985219e-05 9.99990815e-01 -1.30245507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.25, Y:0.22, Z:-0.13 [[ 9.98625554e-01 -5.22369312e-02 -4.27844730e-03 1.72495875e+01] [ 5.22363275e-02 9.98634719e-01 -2.52805966e-04 2.23472112e-01] [ 4.28581183e-03 2.89681232e-05 9.99990815e-01 -1.33635550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.618623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.28, Y:0.22, Z:-0.13 [[ 9.98537818e-01 -5.38880390e-02 -4.27842484e-03 1.72775357e+01] [ 5.38874488e-02 9.98546984e-01 -2.53185482e-04 2.24684360e-01] [ 4.28585189e-03 2.22618789e-05 9.99990815e-01 -1.32632764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:0.23, Z:-0.13 [[ 9.98470952e-01 -5.51130956e-02 -4.27837578e-03 1.73056166e+01] [ 5.51125131e-02 9.98480118e-01 -2.54011822e-04 2.25409940e-01] [ 4.28587254e-03 1.78313849e-05 9.99990815e-01 -1.34737723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.33, Y:0.23, Z:-0.13 [[ 9.98404187e-01 -5.63096346e-02 -4.27836053e-03 1.73339935e+01] [ 5.63090620e-02 9.98413354e-01 -2.54268469e-04 2.26567120e-01] [ 4.28589005e-03 1.29522353e-05 9.99990815e-01 -1.33379284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.36, Y:0.23, Z:-0.13 [[ 9.98307876e-01 -5.79920711e-02 -4.27831293e-03 1.73619072e+01] [ 5.79915106e-02 9.98317044e-01 -2.55066819e-04 2.28394230e-01] [ 4.28590457e-03 6.52938425e-06 9.99990815e-01 -1.33176277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:0.23, Z:-0.13 [[ 9.98269045e-01 -5.86567185e-02 -4.27826413e-03 1.73898723e+01] [ 5.86561605e-02 9.98278212e-01 -2.55882877e-04 2.30537922e-01] [ 4.28590711e-03 4.49340822e-06 9.99990815e-01 -1.33867894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.42, Y:0.23, Z:-0.13 [[ 9.98222095e-01 -5.94503671e-02 -4.27821526e-03 1.74172563e+01] [ 5.94498129e-02 9.98231263e-01 -2.56697307e-04 2.33134149e-01] [ 4.28590897e-03 1.90182709e-06 9.99990815e-01 -1.32587022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:0.23, Z:-0.13 [[ 9.98225899e-01 -5.93864563e-02 -4.27816650e-03 1.74452377e+01] [ 5.93858981e-02 9.98235067e-01 -2.57507310e-04 2.34912016e-01] [ 4.28590827e-03 2.98770604e-06 9.99990815e-01 -1.34002592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:0.24, Z:-0.13 [[ 9.98268671e-01 -5.86630915e-02 -4.27811721e-03 1.74734556e+01] [ 5.86625231e-02 9.98277838e-01 -2.58323675e-04 2.37045237e-01] [ 4.28590366e-03 6.91128204e-06 9.99990815e-01 -1.33407141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:0.24, Z:-0.13 [[ 9.98283089e-01 -5.84172273e-02 -4.27806797e-03 1.75006135e+01] [ 5.84166531e-02 9.98292256e-01 -2.59136599e-04 2.38747855e-01] [ 4.28590016e-03 8.78127175e-06 9.99990815e-01 -1.33363470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888623853000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:17.53, Y:0.24, Z:-0.13 [[ 9.98293889e-01 -5.82323738e-02 -4.27803393e-03 1.75283635e+01] [ 5.82317956e-02 9.98303055e-01 -2.59697393e-04 2.41441059e-01] [ 4.28589713e-03 1.01367232e-05 9.99990815e-01 -1.28837729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:0.24, Z:-0.13 [[ 9.98330414e-01 -5.76028144e-02 -4.27798344e-03 1.75559157e+01] [ 5.76022269e-02 9.98339579e-01 -2.60526372e-04 2.43478731e-01] [ 4.28588724e-03 1.36700279e-05 9.99990815e-01 -1.32191985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:0.25, Z:-0.13 [[ 9.98329931e-01 -5.76111701e-02 -4.27796778e-03 1.75846840e+01] [ 5.76105815e-02 9.98339097e-01 -2.60783303e-04 2.47383039e-01] [ 4.28588652e-03 1.38915654e-05 9.99990815e-01 -1.29992489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:0.25, Z:-0.13 [[ 9.98328376e-01 -5.76381207e-02 -4.27792369e-03 1.76114916e+01] [ 5.76375293e-02 9.98337542e-01 -2.61504568e-04 2.49171105e-01] [ 4.28588445e-03 1.44984791e-05 9.99990815e-01 -1.30961507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.64, Y:0.25, Z:-0.13 [[ 9.98327164e-01 -5.76591104e-02 -4.27790170e-03 1.76381165e+01] [ 5.76585176e-02 9.98336329e-01 -2.61863819e-04 2.50631630e-01] [ 4.28588351e-03 1.47682938e-05 9.99990815e-01 -1.32038276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:17.67, Y:0.25, Z:-0.13 [[ 9.98304297e-01 -5.80536884e-02 -4.27788048e-03 1.76662947e+01] [ 5.80530978e-02 9.98313462e-01 -2.62209963e-04 2.53112643e-01] [ 4.28588793e-03 1.34211187e-05 9.99990815e-01 -1.32072764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.69, Y:0.26, Z:-0.13 [[ 9.98291783e-01 -5.82684772e-02 -4.27783228e-03 1.76940048e+01] [ 5.82678852e-02 9.98300949e-01 -2.62993939e-04 2.55458920e-01] [ 4.28588828e-03 1.32844476e-05 9.99990815e-01 -1.30086588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.72, Y:0.26, Z:-0.13 [[ 9.98320805e-01 -5.77691109e-02 -4.27778115e-03 1.77218908e+01] [ 5.77685108e-02 9.98329970e-01 -2.63823083e-04 2.58016770e-01] [ 4.28587795e-03 1.62590263e-05 9.99990815e-01 -1.32165045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.75, Y:0.26, Z:-0.13 [[ 9.98322031e-01 -5.77479220e-02 -4.27776530e-03 1.77498162e+01] [ 5.77473206e-02 9.98331196e-01 -2.64079839e-04 2.60763531e-01] [ 4.28587661e-03 1.66072369e-05 9.99990815e-01 -1.30646127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:0.26, Z:-0.13 [[ 9.98325609e-01 -5.76860429e-02 -4.27771514e-03 1.77770562e+01] [ 5.76854374e-02 9.98334774e-01 -2.64889890e-04 2.63069270e-01] [ 4.28587222e-03 1.76844922e-05 9.99990815e-01 -1.31951150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:0.27, Z:-0.13 [[ 9.98302490e-01 -5.80847563e-02 -4.27769338e-03 1.78053520e+01] [ 5.80841530e-02 9.98311655e-01 -2.65240786e-04 2.65472930e-01] [ 4.28587760e-03 1.63243403e-05 9.99990815e-01 -1.30077866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:0.27, Z:-0.13 [[ 9.98275254e-01 -5.85509915e-02 -4.27764249e-03 1.78337007e+01] [ 5.85503889e-02 9.98284419e-01 -2.66058961e-04 2.68295401e-01] [ 4.28588186e-03 1.51424457e-05 9.99990815e-01 -1.30117427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:0.27, Z:-0.13 [[ 9.98258336e-01 -5.88387338e-02 -4.27759147e-03 1.78606438e+01] [ 5.88381304e-02 9.98267501e-01 -2.66876716e-04 2.70599891e-01] [ 4.28588324e-03 1.47264217e-05 9.99990815e-01 -1.30024701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:0.27, Z:-0.13 [[ 9.98247621e-01 -5.90202534e-02 -4.27755664e-03 1.78881813e+01] [ 5.90196493e-02 9.98256785e-01 -2.67433775e-04 2.73268614e-01] [ 4.28588395e-03 1.45052367e-05 9.99990815e-01 -1.29672968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:0.28, Z:-0.13 [[ 9.98243039e-01 -5.90976964e-02 -4.27750618e-03 1.79164377e+01] [ 5.90970895e-02 9.98252204e-01 -2.68238427e-04 2.75794580e-01] [ 4.28588225e-03 1.49789768e-05 9.99990815e-01 -1.29442437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:0.28, Z:-0.13 [[ 9.98255708e-01 -5.88833168e-02 -4.27745567e-03 1.79437552e+01] [ 5.88827045e-02 9.98264872e-01 -2.69041495e-04 2.78141727e-01] [ 4.28587580e-03 1.67040492e-05 9.99990815e-01 -1.29890663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:0.28, Z:-0.13 [[ 9.98280506e-01 -5.84614017e-02 -4.27743376e-03 1.79715525e+01] [ 5.84607841e-02 9.98289669e-01 -2.69389446e-04 2.80942228e-01] [ 4.28586682e-03 1.88641010e-05 9.99990815e-01 -1.29315709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:0.28, Z:-0.13 [[ 9.98284713e-01 -5.83895182e-02 -4.27738311e-03 1.79995424e+01] [ 5.83888965e-02 9.98293876e-01 -2.70191326e-04 2.83550312e-01] [ 4.28586170e-03 1.99761909e-05 9.99990815e-01 -1.28295997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:0.29, Z:-0.13 [[ 9.98344662e-01 -5.73553792e-02 -4.27733177e-03 1.80268692e+01] [ 5.73547445e-02 9.98353825e-01 -2.71001635e-04 2.87536502e-01] [ 4.28583393e-03 2.52277645e-05 9.99990815e-01 -1.26347437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:18.05, Y:0.29, Z:-0.12 [[ 9.98368741e-01 -5.69347217e-02 -4.27727932e-03 1.80541666e+01] [ 5.69340796e-02 9.98377903e-01 -2.71826863e-04 2.91725774e-01] [ 4.28581755e-03 2.78604810e-05 9.99990815e-01 -1.24151869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:0.29, Z:-0.13 [[ 9.98414855e-01 -5.61202435e-02 -4.27722656e-03 1.80822155e+01] [ 5.61195904e-02 9.98424017e-01 -2.72654648e-04 2.94872993e-01] [ 4.28578716e-03 3.21862489e-05 9.99990815e-01 -1.25909021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:0.30, Z:-0.13 [[ 9.98438655e-01 -5.56952239e-02 -4.27721022e-03 1.81097537e+01] [ 5.56945658e-02 9.98447816e-01 -2.72910739e-04 2.98681412e-01] [ 4.28577102e-03 3.42672652e-05 9.99990815e-01 -1.25760093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:0.30, Z:-0.13 [[ 9.98488731e-01 -5.47901430e-02 -4.27715746e-03 1.81377550e+01] [ 5.47894730e-02 9.98497891e-01 -2.73734982e-04 3.04720202e-01] [ 4.28573069e-03 3.89780913e-05 9.99990815e-01 -1.27233497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:0.31, Z:-0.13 [[ 9.98490996e-01 -5.47488556e-02 -4.27711145e-03 1.81657255e+01] [ 5.47481822e-02 9.98500156e-01 -2.74452152e-04 3.08901339e-01] [ 4.28572239e-03 3.98739253e-05 9.99990815e-01 -1.27240900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:0.31, Z:-0.13 [[ 9.98493815e-01 -5.46974309e-02 -4.27705888e-03 1.81923774e+01] [ 5.46967535e-02 9.98502974e-01 -2.75268861e-04 3.12860122e-01] [ 4.28571251e-03 4.09130195e-05 9.99990815e-01 -1.28293263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.638623853000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:18.22, Y:0.32, Z:-0.13 [[ 9.98452636e-01 -5.54440332e-02 -4.27703602e-03 1.82199661e+01] [ 5.54433612e-02 9.98461796e-01 -2.75623612e-04 3.19961664e-01] [ 4.28573875e-03 3.80638684e-05 9.99990815e-01 -1.26260497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:18.25, Y:0.32, Z:-0.13 [[ 9.98442470e-01 -5.56267942e-02 -4.27701987e-03 1.82483992e+01] [ 5.56261227e-02 9.98451630e-01 -2.75873964e-04 3.21993774e-01] [ 4.28574345e-03 3.75302502e-05 9.99990815e-01 -1.26138359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.28, Y:0.33, Z:-0.13 [[ 9.98412842e-01 -5.61560735e-02 -4.27696923e-03 1.82757987e+01] [ 5.61554036e-02 9.98422002e-01 -2.76656845e-04 3.25928366e-01] [ 4.28575615e-03 3.60428138e-05 9.99990815e-01 -1.28768562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:0.33, Z:-0.13 [[ 9.98374809e-01 -5.68282421e-02 -4.27691723e-03 1.83031178e+01] [ 5.68275749e-02 9.98383969e-01 -2.77458506e-04 3.30388918e-01] [ 4.28577308e-03 3.39607494e-05 9.99990815e-01 -1.28534425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:0.34, Z:-0.13 [[ 9.98262897e-01 -5.87613474e-02 -4.27689267e-03 1.83310659e+01] [ 5.87606964e-02 9.98272059e-01 -2.77836481e-04 3.36465367e-01] [ 4.28582850e-03 2.60406588e-05 9.99990815e-01 -1.26302081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:0.34, Z:-0.13 [[ 9.98224664e-01 -5.94073213e-02 -4.27683854e-03 1.83587033e+01] [ 5.94066726e-02 9.98233825e-01 -2.78667262e-04 3.39912563e-01] [ 4.28583977e-03 2.40997874e-05 9.99990815e-01 -1.26990459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:0.34, Z:-0.13 [[ 9.98179105e-01 -6.01679538e-02 -4.27682167e-03 1.83866584e+01] [ 6.01673110e-02 9.98188267e-01 -2.78925933e-04 3.43802069e-01] [ 4.28585562e-03 2.10931782e-05 9.99990815e-01 -1.26046707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:0.35, Z:-0.13 [[ 9.98144200e-01 -6.07442595e-02 -4.27676777e-03 1.84142504e+01] [ 6.07436184e-02 9.98153362e-01 -2.79749962e-04 3.51153547e-01] [ 4.28586333e-03 1.94444522e-05 9.99990815e-01 -1.26523492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:0.36, Z:-0.13 [[ 9.98140609e-01 -6.08032376e-02 -4.27671356e-03 1.84410635e+01] [ 6.08025935e-02 9.98149771e-01 -2.80576261e-04 3.55967350e-01] [ 4.28586061e-03 2.00192839e-05 9.99990815e-01 -1.27091137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.47, Y:0.36, Z:-0.12 [[ 9.98089837e-01 -6.16310556e-02 -4.27668995e-03 1.84691132e+01] [ 6.16304176e-02 9.98098999e-01 -2.80935638e-04 3.61026264e-01] [ 4.28587432e-03 1.68248174e-05 9.99990815e-01 -1.24423793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.50, Y:0.36, Z:-0.13 [[ 9.98047640e-01 -6.23106549e-02 -4.27663409e-03 1.84969241e+01] [ 6.23100195e-02 9.98056803e-01 -2.81783537e-04 3.64832765e-01] [ 4.28588186e-03 1.47562414e-05 9.99990815e-01 -1.26454120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.53, Y:0.37, Z:-0.12 [[ 9.97879311e-01 -6.49506856e-02 -4.27661672e-03 1.85252830e+01] [ 6.49500733e-02 9.97888475e-01 -2.82046913e-04 3.71038154e-01] [ 4.28590567e-03 3.68220975e-06 9.99990815e-01 -1.24940328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:0.37, Z:-0.13 [[ 9.97780955e-01 -6.64445361e-02 -4.27656814e-03 1.85530569e+01] [ 6.64439344e-02 9.97790120e-01 -2.82781581e-04 3.74377286e-01] [ 4.28590673e-03 -1.99793677e-06 9.99990815e-01 -1.26476841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:0.38, Z:-0.13 [[ 9.97550410e-01 -6.98204205e-02 -4.27655088e-03 1.85812714e+01] [ 6.98198486e-02 9.97559576e-01 -2.83042254e-04 3.78925242e-01] [ 4.28587642e-03 -1.62392188e-05 9.99990815e-01 -1.25785130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:0.38, Z:-0.13 [[ 9.97451290e-01 -7.12224367e-02 -4.27650102e-03 1.86077416e+01] [ 7.12218746e-02 9.97460457e-01 -2.83793701e-04 3.82167857e-01] [ 4.28585314e-03 -2.15100258e-05 9.99990815e-01 -1.27005519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:0.39, Z:-0.13 [[ 9.97291111e-01 -7.34312722e-02 -4.27647616e-03 1.86350965e+01] [ 7.34307287e-02 9.97300279e-01 -2.84167704e-04 3.87227650e-01] [ 4.28579767e-03 -3.06268363e-05 9.99990815e-01 -1.25927273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:0.39, Z:-0.13 [[ 9.97233298e-01 -7.42122785e-02 -4.27642070e-03 1.86626764e+01] [ 7.42117387e-02 9.97242466e-01 -2.84999948e-04 3.90470544e-01] [ 4.28577882e-03 -3.31491778e-05 9.99990815e-01 -1.25769054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.69, Y:0.39, Z:-0.13 [[ 9.97194845e-01 -7.47272019e-02 -4.27636436e-03 1.86893098e+01] [ 7.47266632e-02 9.97204013e-01 -2.85842860e-04 3.93090644e-01] [ 4.28576794e-03 -3.45174130e-05 9.99990815e-01 -1.25803589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.72, Y:0.40, Z:-0.13 [[ 9.97152720e-01 -7.52872170e-02 -4.27633984e-03 1.87173621e+01] [ 7.52866818e-02 9.97161889e-01 -2.86209158e-04 3.96410012e-01] [ 4.28575101e-03 -3.65571963e-05 9.99990815e-01 -1.25531852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:0.40, Z:-0.13 [[ 9.97136469e-01 -7.55021576e-02 -4.27632256e-03 1.87444195e+01] [ 7.55016233e-02 9.97145638e-01 -2.86467101e-04 3.98620912e-01] [ 4.28574527e-03 -3.72225021e-05 9.99990815e-01 -1.26468222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:0.40, Z:-0.13 [[ 9.97104454e-01 -7.59237854e-02 -4.27629857e-03 1.87723935e+01] [ 7.59232534e-02 9.97113623e-01 -2.86824804e-04 4.00938901e-01] [ 4.28573239e-03 -3.86762101e-05 9.99990815e-01 -1.25066173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:0.40, Z:-0.12 [[ 9.97120148e-01 -7.57174011e-02 -4.27624416e-03 1.88001884e+01] [ 7.57168638e-02 9.97129316e-01 -2.87633712e-04 4.03930777e-01] [ 4.28574729e-03 -3.69784271e-05 9.99990815e-01 -1.22530104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:0.41, Z:-0.12 [[ 9.97140382e-01 -7.54504583e-02 -4.27622723e-03 1.88278014e+01] [ 7.54499174e-02 9.97149551e-01 -2.87885143e-04 4.06415919e-01] [ 4.28575913e-03 -3.55790902e-05 9.99990815e-01 -1.22647569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.86, Y:0.41, Z:-0.12 [[ 9.97210849e-01 -7.45133317e-02 -4.27617311e-03 1.88550199e+01] [ 7.45127788e-02 9.97220017e-01 -2.88686796e-04 4.09512213e-01] [ 4.28579644e-03 -3.07479360e-05 9.99990815e-01 -1.23466132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:0.41, Z:-0.12 [[ 9.97239950e-01 -7.41228496e-02 -4.27614964e-03 1.88833334e+01] [ 7.41222916e-02 9.97249117e-01 -2.89034144e-04 4.11881564e-01] [ 4.28581049e-03 -2.87216150e-05 9.99990815e-01 -1.23959972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.91, Y:0.41, Z:-0.12 [[ 9.97269745e-01 -7.37208944e-02 -4.27609621e-03 1.89109915e+01] [ 7.37203293e-02 9.97278912e-01 -2.89822377e-04 4.13832992e-01] [ 4.28582654e-03 -2.62041331e-05 9.99990815e-01 -1.23720412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.94, Y:0.42, Z:-0.12 [[ 9.97298745e-01 -7.33275409e-02 -4.27604119e-03 1.89382966e+01] [ 7.33269688e-02 9.97307912e-01 -2.90631977e-04 4.15609721e-01] [ 4.28584103e-03 -2.37022324e-05 9.99990815e-01 -1.24958771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.97, Y:0.42, Z:-0.12 [[ 9.97397558e-01 -7.19710164e-02 -4.27601720e-03 1.89662770e+01] [ 7.19704303e-02 9.97406724e-01 -2.90984508e-04 4.17665101e-01] [ 4.28587075e-03 -1.75195599e-05 9.99990815e-01 -1.23699545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.478623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:0.42, Z:-0.12 [[ 9.97447340e-01 -7.12777738e-02 -4.27596126e-03 1.89936960e+01] [ 7.12771778e-02 9.97456505e-01 -2.91804196e-04 4.19817626e-01] [ 4.28588452e-03 -1.37191320e-05 9.99990815e-01 -1.23107663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:0.42, Z:-0.12 [[ 9.97519153e-01 -7.02656157e-02 -4.27590471e-03 1.90215404e+01] [ 7.02650069e-02 9.97528317e-01 -2.92630479e-04 4.21960183e-01] [ 4.28589789e-03 -8.54196653e-06 9.99990815e-01 -1.22746209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:19.05, Y:0.43, Z:-0.12 [[ 9.97752975e-01 -6.68634206e-02 -4.27584812e-03 1.90490121e+01] [ 6.68627769e-02 9.97762137e-01 -2.93455089e-04 4.25123142e-01] [ 4.28590077e-03 6.90060979e-06 9.99990815e-01 -1.18170272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.08, Y:0.43, Z:-0.12 [[ 9.97877034e-01 -6.49857018e-02 -4.27583054e-03 1.90766283e+01] [ 6.49850399e-02 9.97886195e-01 -2.93710880e-04 4.27360739e-01] [ 4.28587928e-03 1.52223237e-05 9.99990815e-01 -1.22058890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:0.43, Z:-0.12 [[ 9.98137648e-01 -6.08518931e-02 -4.27577541e-03 1.91039629e+01] [ 6.08511898e-02 9.98146806e-01 -2.94511289e-04 4.32021248e-01] [ 4.28577314e-03 3.37767841e-05 9.99990815e-01 -1.22098810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:0.44, Z:-0.12 [[ 9.98251562e-01 -5.89536888e-02 -4.27571940e-03 1.91311887e+01] [ 5.89529646e-02 9.98260718e-01 -2.95322295e-04 4.36244878e-01] [ 4.28569305e-03 4.27396078e-05 9.99990815e-01 -1.22959507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:0.44, Z:-0.12 [[ 9.98334008e-01 -5.75406574e-02 -4.27569510e-03 1.91584997e+01] [ 5.75399187e-02 9.98343163e-01 -2.95673632e-04 4.40390485e-01] [ 4.28562423e-03 4.91578936e-05 9.99990815e-01 -1.23884665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.19, Y:0.45, Z:-0.13 [[ 9.98436620e-01 -5.57318171e-02 -4.27563973e-03 1.91870973e+01] [ 5.57310585e-02 9.98445773e-01 -2.96472195e-04 4.45558259e-01] [ 4.28551735e-03 5.77227682e-05 9.99990815e-01 -1.26179885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:0.45, Z:-0.13 [[ 9.98435827e-01 -5.57460194e-02 -4.27559136e-03 1.92150687e+01] [ 5.57452579e-02 9.98444980e-01 -2.97168096e-04 4.48860338e-01] [ 4.28550867e-03 5.83593307e-05 9.99990815e-01 -1.26170909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:0.45, Z:-0.12 [[ 9.98418311e-01 -5.60588668e-02 -4.27553616e-03 1.92432458e+01] [ 5.60581047e-02 9.98427464e-01 -2.97960153e-04 4.52330954e-01] [ 4.28551604e-03 5.78104184e-05 9.99990815e-01 -1.22798360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:0.46, Z:-0.12 [[ 9.98295772e-01 -5.82002742e-02 -4.27551805e-03 1.92706345e+01] [ 5.81995307e-02 9.98304926e-01 -2.98219870e-04 4.57548774e-01] [ 4.28562721e-03 4.88784915e-05 9.99990815e-01 -1.22035765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:0.46, Z:-0.12 [[ 9.98180691e-01 -6.01417341e-02 -4.27550008e-03 1.92996263e+01] [ 6.01410072e-02 9.98189847e-01 -2.98477198e-04 4.61245300e-01] [ 4.28571171e-03 4.08012939e-05 9.99990815e-01 -1.19591507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.33, Y:0.47, Z:-0.12 [[ 9.97918955e-01 -6.43387868e-02 -4.27545086e-03 1.93284687e+01] [ 6.43380955e-02 9.97928114e-01 -2.99180678e-04 4.65492513e-01] [ 4.28584153e-03 2.34837041e-05 9.99990815e-01 -1.16169269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868623853000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.36, Y:0.47, Z:-0.11 [[ 9.97759681e-01 -6.67633101e-02 -4.27540102e-03 1.93567931e+01] [ 6.67626380e-02 9.97768841e-01 -2.99891167e-04 4.68065451e-01] [ 4.28588365e-03 1.37822650e-05 9.99990815e-01 -1.14986027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.38, Y:0.47, Z:-0.11 [[ 9.97600940e-01 -6.90947606e-02 -4.27535088e-03 1.93849328e+01] [ 6.90941068e-02 9.97610101e-01 -3.00604235e-04 4.70526774e-01] [ 4.28590341e-03 4.48151675e-06 9.99990815e-01 -1.14375965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.41, Y:0.47, Z:-0.11 [[ 9.97442360e-01 -7.13474647e-02 -4.27533301e-03 1.94127904e+01] [ 7.13468306e-02 9.97451522e-01 -3.00858211e-04 4.72960292e-01] [ 4.28590289e-03 -4.94273641e-06 9.99990815e-01 -1.13915764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.958623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.44, Y:0.48, Z:-0.11 [[ 9.97144527e-01 -7.53957148e-02 -4.27531529e-03 1.94403923e+01] [ 7.53951168e-02 9.97153692e-01 -3.01109814e-04 4.75812425e-01] [ 4.28584882e-03 -2.20878925e-05 9.99990815e-01 -1.13187666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:0.48, Z:-0.11 [[ 9.96999904e-01 -7.72846328e-02 -4.27525834e-03 1.94682708e+01] [ 7.72840487e-02 9.97009070e-01 -3.01916216e-04 4.78650514e-01] [ 4.28580483e-03 -2.93988354e-05 9.99990815e-01 -1.13869890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:0.48, Z:-0.12 [[ 9.96884967e-01 -7.87533240e-02 -4.27520136e-03 1.94963113e+01] [ 7.87527499e-02 9.96894133e-01 -3.02721025e-04 4.81244407e-01] [ 4.28576344e-03 -3.49058240e-05 9.99990815e-01 -1.15267958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:0.48, Z:-0.12 [[ 9.96749300e-01 -8.04521971e-02 -4.27514467e-03 1.95237734e+01] [ 8.04516352e-02 9.96758467e-01 -3.03519496e-04 4.83399813e-01] [ 4.28570546e-03 -4.14095347e-05 9.99990815e-01 -1.18974864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.078623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.55, Y:0.49, Z:-0.12 [[ 9.96686426e-01 -8.12274034e-02 -4.27512701e-03 1.95518771e+01] [ 8.12268476e-02 9.96695594e-01 -3.03767960e-04 4.85328706e-01] [ 4.28567454e-03 -4.44936880e-05 9.99990815e-01 -1.17820895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.58, Y:0.49, Z:-0.11 [[ 9.96664569e-01 -8.14951632e-02 -4.27506670e-03 1.95796875e+01] [ 8.14946062e-02 9.96673736e-01 -3.04614387e-04 4.86957878e-01] [ 4.28567130e-03 -4.47965108e-05 9.99990815e-01 -1.14493434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:0.49, Z:-0.12 [[ 9.96653134e-01 -8.16348870e-02 -4.27500594e-03 1.96073551e+01] [ 8.16343276e-02 9.96662302e-01 -3.05464822e-04 4.88383402e-01] [ 4.28567384e-03 -4.45447627e-05 9.99990815e-01 -1.18958600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:0.49, Z:-0.12 [[ 9.96639773e-01 -8.17978425e-02 -4.27498704e-03 1.96356870e+01] [ 8.17972835e-02 9.96648941e-01 -3.05729092e-04 4.90982259e-01] [ 4.28566928e-03 -4.49805536e-05 9.99990815e-01 -1.17688696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:0.49, Z:-0.12 [[ 9.96645796e-01 -8.17244326e-02 -4.27492865e-03 1.96645311e+01] [ 8.17238694e-02 9.96654963e-01 -3.06543365e-04 4.93594186e-01] [ 4.28568094e-03 -4.38485547e-05 9.99990815e-01 -1.16564146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:0.50, Z:-0.12 [[ 9.96617013e-01 -8.20746936e-02 -4.27487706e-03 1.96927367e+01] [ 8.20741306e-02 9.96626180e-01 -3.07261143e-04 4.95213943e-01] [ 4.28567275e-03 -4.46351351e-05 9.99990815e-01 -1.16529061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:0.50, Z:-0.12 [[ 9.96558640e-01 -8.27804536e-02 -4.27481820e-03 1.97204388e+01] [ 8.27798936e-02 9.96567807e-01 -3.08077759e-04 4.96416938e-01] [ 4.28564902e-03 -4.68514433e-05 9.99990815e-01 -1.16080126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:0.50, Z:-0.12 [[ 9.96523237e-01 -8.32055568e-02 -4.27475779e-03 1.97480264e+01] [ 8.32049971e-02 9.96532404e-01 -3.08913707e-04 4.97536850e-01] [ 4.28563800e-03 -4.78415231e-05 9.99990815e-01 -1.17831054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.318623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.78, Y:0.50, Z:-0.12 [[ 9.96421477e-01 -8.44154415e-02 -4.27472935e-03 1.97755118e+01] [ 8.44148913e-02 9.96430645e-01 -3.09306853e-04 4.98709079e-01] [ 4.28558160e-03 -5.26508217e-05 9.99990815e-01 -1.19225362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:19.80, Y:0.50, Z:-0.12 [[ 9.96366397e-01 -8.50630934e-02 -4.27471105e-03 1.98035251e+01] [ 8.50625480e-02 9.96375565e-01 -3.09559574e-04 5.00955392e-01] [ 4.28554973e-03 -5.51830564e-05 9.99990815e-01 -1.15413547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.378623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.83, Y:0.50, Z:-0.12 [[ 9.96326515e-01 -8.55289639e-02 -4.27465219e-03 1.98317651e+01] [ 8.55284193e-02 9.96335683e-01 -3.10370243e-04 5.01916195e-01] [ 4.28553415e-03 -5.63741425e-05 9.99990815e-01 -1.18146382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.86, Y:0.50, Z:-0.12 [[ 9.96390664e-01 -8.47783782e-02 -4.27459226e-03 1.98596419e+01] [ 8.47778232e-02 9.96399831e-01 -3.11193436e-04 5.02983071e-01] [ 4.28558548e-03 -5.23203927e-05 9.99990815e-01 -1.17122952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.438623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.89, Y:0.51, Z:-0.11 [[ 9.96467576e-01 -8.38695294e-02 -4.27453083e-03 1.98867068e+01] [ 8.38689625e-02 9.96476743e-01 -3.12034983e-04 5.05121055e-01] [ 4.28564078e-03 -4.75677219e-05 9.99990815e-01 -1.14036438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:0.51, Z:-0.12 [[ 9.96544837e-01 -8.29464727e-02 -4.27448841e-03 1.99153381e+01] [ 8.29458948e-02 9.96554003e-01 -3.12614958e-04 5.06038377e-01] [ 4.28568884e-03 -4.30164433e-05 9.99990815e-01 -1.17006285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:0.51, Z:-0.11 [[ 9.96766776e-01 -8.02354202e-02 -4.27445838e-03 1.99433681e+01] [ 8.02348156e-02 9.96775941e-01 -3.13024967e-04 5.06313494e-01] [ 4.28579297e-03 -3.09474929e-05 9.99990815e-01 -1.14336332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.97, Y:0.51, Z:-0.11 [[ 9.96852430e-01 -7.91641410e-02 -4.27442963e-03 1.99712228e+01] [ 7.91635248e-02 9.96861594e-01 -3.13417138e-04 5.08495909e-01] [ 4.28582613e-03 -2.59482805e-05 9.99990815e-01 -1.13191016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.00, Y:0.51, Z:-0.11 [[ 9.96836807e-01 -7.93606303e-02 -4.27436796e-03 1.99996286e+01] [ 7.93600123e-02 9.96845971e-01 -3.14255854e-04 5.10772126e-01] [ 4.28582603e-03 -2.59520923e-05 9.99990815e-01 -1.13068944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.03, Y:0.51, Z:-0.11 [[ 9.97029018e-01 -7.69081800e-02 -4.27430586e-03 2.00278888e+01] [ 7.69075358e-02 9.97038180e-01 -3.15098360e-04 5.13593008e-01] [ 4.28587977e-03 -1.45641226e-05 9.99990815e-01 -1.12999770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.618623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:0.52, Z:-0.11 [[ 9.97080230e-01 -7.62413673e-02 -4.27424343e-03 2.00549556e+01] [ 7.62407134e-02 9.97089391e-01 -3.15942881e-04 5.15440265e-01] [ 4.28589070e-03 -1.08509682e-05 9.99990815e-01 -1.14238332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:0.52, Z:-0.12 [[ 9.97104198e-01 -7.59272653e-02 -4.27421630e-03 2.00820506e+01] [ 7.59266070e-02 9.97113359e-01 -3.16309552e-04 5.16768158e-01] [ 4.28589469e-03 -9.13315861e-06 9.99990815e-01 -1.15240445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:0.52, Z:-0.12 [[ 9.97111078e-01 -7.58368663e-02 -4.27419006e-03 2.01102885e+01] [ 7.58362056e-02 9.97120238e-01 -3.16663623e-04 5.16682349e-01] [ 4.28589619e-03 -8.38954957e-06 9.99990815e-01 -1.16847029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:0.52, Z:-0.12 [[ 9.97104108e-01 -7.59284484e-02 -4.27416206e-03 2.01386292e+01] [ 7.59277869e-02 9.97113269e-01 -3.17041177e-04 5.17579762e-01] [ 4.28589615e-03 -8.40460651e-06 9.99990815e-01 -1.16864689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.738623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.17, Y:0.52, Z:-0.12 [[ 9.97117201e-01 -7.57563142e-02 -4.27410204e-03 2.01665373e+01] [ 7.57556477e-02 9.97126362e-01 -3.17848221e-04 5.18441989e-01] [ 4.28589883e-03 -6.85544010e-06 9.99990815e-01 -1.15880637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.19, Y:0.52, Z:-0.12 [[ 9.97154952e-01 -7.52577858e-02 -4.27403997e-03 2.01939689e+01] [ 7.52571111e-02 9.97164112e-01 -3.18680633e-04 5.19687760e-01] [ 4.28590247e-03 -3.87792962e-06 9.99990815e-01 -1.15878668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.798623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:0.52, Z:-0.11 [[ 9.97296480e-01 -7.33584587e-02 -4.27401293e-03 2.02225427e+01] [ 7.33577651e-02 9.97305638e-01 -3.19042878e-04 5.20562583e-01] [ 4.28590169e-03 4.64830256e-06 9.99990815e-01 -1.14220920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:0.52, Z:-0.11 [[ 9.97388743e-01 -7.20931919e-02 -4.27396010e-03 2.02509626e+01] [ 7.20924837e-02 9.97397900e-01 -3.19749073e-04 5.21747804e-01] [ 4.28589056e-03 1.07937274e-05 9.99990815e-01 -1.13121976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:0.52, Z:-0.11 [[ 9.97477472e-01 -7.08549624e-02 -4.27389990e-03 2.02791053e+01] [ 7.08542393e-02 9.97486628e-01 -3.20551737e-04 5.22978551e-01] [ 4.28587068e-03 1.69192104e-05 9.99990815e-01 -1.11462130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:0.52, Z:-0.11 [[ 9.97693300e-01 -6.77481561e-02 -4.27383625e-03 2.03071075e+01] [ 6.77474009e-02 9.97702454e-01 -3.21398134e-04 5.24541153e-01] [ 4.28579104e-03 3.11154673e-05 9.99990815e-01 -1.10636069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.918623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:20.33, Y:0.53, Z:-0.11 [[ 9.97797561e-01 -6.61948786e-02 -4.27381648e-03 2.03335030e+01] [ 6.61941080e-02 9.97806713e-01 -3.21660766e-04 5.27745458e-01] [ 4.28573507e-03 3.80508582e-05 9.99990815e-01 -1.09194891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:0.53, Z:-0.11 [[ 9.98016354e-01 -6.28099593e-02 -4.27378904e-03 2.03615570e+01] [ 6.28091561e-02 9.98025504e-01 -3.22025014e-04 5.30957715e-01] [ 4.28557684e-03 5.29531474e-05 9.99990815e-01 -1.12730155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.978623853000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:20.39, Y:0.53, Z:-0.11 [[ 9.98110518e-01 -6.12954180e-02 -4.27376984e-03 2.03897999e+01] [ 6.12945998e-02 9.98119666e-01 -3.22279661e-04 5.34304252e-01] [ 4.28548799e-03 5.97117077e-05 9.99990815e-01 -1.10085501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:0.54, Z:-0.11 [[ 9.98189365e-01 -5.99977182e-02 -4.27370910e-03 2.04177703e+01] [ 5.99968847e-02 9.98198512e-01 -3.23083010e-04 5.36711879e-01] [ 4.28539431e-03 6.60887922e-05 9.99990815e-01 -1.12080679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.038623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:20.45, Y:0.54, Z:-0.11 [[ 9.98326310e-01 -5.76742193e-02 -4.27364742e-03 2.04456700e+01] [ 5.76733611e-02 9.98335454e-01 -3.23896841e-04 5.40954844e-01] [ 4.28521424e-03 7.68791275e-05 9.99990815e-01 -1.10075248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068623853000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.47, Y:0.54, Z:-0.11 [[ 9.98370661e-01 -5.69013177e-02 -4.27362820e-03 2.04723950e+01] [ 5.69004513e-02 9.98379804e-01 -3.24150256e-04 5.43275846e-01] [ 4.28514867e-03 8.04507317e-05 9.99990815e-01 -1.13140177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.098623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:20.50, Y:0.55, Z:-0.11 [[ 9.98377242e-01 -5.67857321e-02 -4.27360159e-03 2.05006695e+01] [ 5.67848631e-02 9.98386385e-01 -3.24500695e-04 5.46589702e-01] [ 4.28513266e-03 8.12982277e-05 9.99990815e-01 -1.11458440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:0.55, Z:-0.11 [[ 9.98324807e-01 -5.77002311e-02 -4.27354006e-03 2.05287254e+01] [ 5.76993671e-02 9.98333951e-01 -3.25309091e-04 5.50581152e-01] [ 4.28519054e-03 7.81835795e-05 9.99990815e-01 -1.14162925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:0.55, Z:-0.11 [[ 9.98263981e-01 -5.87431884e-02 -4.27351072e-03 2.05566041e+01] [ 5.87423323e-02 9.98273125e-01 -3.25693993e-04 5.54074540e-01] [ 4.28526321e-03 7.40925946e-05 9.99990815e-01 -1.12679950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.58, Y:0.56, Z:-0.11 [[ 9.98171893e-01 -6.02877206e-02 -4.27345007e-03 2.05848684e+01] [ 6.02868752e-02 9.98181039e-01 -3.26487898e-04 5.57297631e-01] [ 4.28536004e-03 6.82580923e-05 9.99990815e-01 -1.11622255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.218623853 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:20.61, Y:0.56, Z:-0.11 [[ 9.97955604e-01 -6.37679473e-02 -4.27338952e-03 2.06121261e+01] [ 6.37671304e-02 9.97964752e-01 -3.27278543e-04 5.60709486e-01] [ 4.28556199e-03 5.41076696e-05 9.99990815e-01 -1.07805503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.64, Y:0.56, Z:-0.11 [[ 9.97851955e-01 -6.53698259e-02 -4.27334654e-03 2.06403043e+01] [ 6.53690213e-02 9.97861104e-01 -3.27838795e-04 5.63480506e-01] [ 4.28563706e-03 4.77901018e-05 9.99990815e-01 -1.06838737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.278623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:0.57, Z:-0.11 [[ 9.97537261e-01 -7.00082324e-02 -4.27328621e-03 2.06679117e+01] [ 7.00074669e-02 9.97546413e-01 -3.28623310e-04 5.66455318e-01] [ 4.28580766e-03 2.86520540e-05 9.99990815e-01 -1.12088232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:0.57, Z:-0.11 [[ 9.97392169e-01 -7.20458216e-02 -4.27322598e-03 2.06951755e+01] [ 7.20450716e-02 9.97401323e-01 -3.29404573e-04 5.68611529e-01] [ 4.28585347e-03 2.06806695e-05 9.99990815e-01 -1.12571721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.72, Y:0.57, Z:-0.11 [[ 9.97239878e-01 -7.41239903e-02 -4.27319973e-03 2.07235710e+01] [ 7.41232579e-02 9.97249033e-01 -3.29744745e-04 5.70832771e-01] [ 4.28588630e-03 1.20911230e-05 9.99990815e-01 -1.11033474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:0.57, Z:-0.11 [[ 9.97113151e-01 -7.58096596e-02 -4.27313652e-03 2.07508172e+01] [ 7.58089391e-02 9.97122307e-01 -3.30561922e-04 5.72763311e-01] [ 4.28589953e-03 5.66569311e-06 9.99990815e-01 -1.12416425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:0.58, Z:-0.11 [[ 9.96913294e-01 -7.83940296e-02 -4.27310905e-03 2.07785688e+01] [ 7.83933313e-02 9.96922452e-01 -3.30916568e-04 5.75092068e-01] [ 4.28590024e-03 -5.08812729e-06 9.99990815e-01 -1.13561026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.81, Y:0.58, Z:-0.11 [[ 9.96843139e-01 -7.92811267e-02 -4.27309029e-03 2.08067110e+01] [ 7.92804356e-02 9.96852297e-01 -3.31158679e-04 5.78107224e-01] [ 4.28589450e-03 -8.65920207e-06 9.99990815e-01 -1.11995018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.458623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:0.58, Z:-0.11 [[ 9.96806667e-01 -7.97383843e-02 -4.27302764e-03 2.08335225e+01] [ 7.97376939e-02 9.96815826e-01 -3.31965061e-04 5.81657792e-01] [ 4.28589193e-03 -9.81638479e-06 9.99990815e-01 -1.12534860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:0.58, Z:-0.11 [[ 9.96807060e-01 -7.97334679e-02 -4.27300032e-03 2.08617211e+01] [ 7.97327759e-02 9.96816219e-01 -3.32316394e-04 5.84188708e-01] [ 4.28589276e-03 -9.44284883e-06 9.99990815e-01 -1.12043803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:0.59, Z:-0.11 [[ 9.96802242e-01 -7.97936898e-02 -4.27298191e-03 2.08891862e+01] [ 7.97929974e-02 9.96811400e-01 -3.32552907e-04 5.86160838e-01] [ 4.28589270e-03 -9.46455139e-06 9.99990815e-01 -1.09383073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.92, Y:0.59, Z:-0.11 [[ 9.96821054e-01 -7.95583325e-02 -4.27291966e-03 2.09159505e+01] [ 7.95576345e-02 9.96830212e-01 -3.33350831e-04 5.87396179e-01] [ 4.28589625e-03 -7.65225352e-06 9.99990815e-01 -1.08971177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:0.59, Z:-0.11 [[ 9.96826993e-01 -7.94838929e-02 -4.27289253e-03 2.09439512e+01] [ 7.94831927e-02 9.96836150e-01 -3.33698200e-04 5.90056763e-01] [ 4.28589738e-03 -6.98376759e-06 9.99990815e-01 -1.09657201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:0.59, Z:-0.11 [[ 9.96833491e-01 -7.94023546e-02 -4.27283069e-03 2.09704957e+01] [ 7.94016502e-02 9.96842649e-01 -3.34488172e-04 5.92864344e-01] [ 4.28589901e-03 -5.84079634e-06 9.99990815e-01 -1.10454709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:0.60, Z:-0.11 [[ 9.96825350e-01 -7.95044954e-02 -4.27280382e-03 2.09978914e+01] [ 7.95037905e-02 9.96834507e-01 -3.34831085e-04 5.95921138e-01] [ 4.28589887e-03 -5.93598601e-06 9.99990815e-01 -1.10305121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:0.60, Z:-0.11 [[ 9.96836401e-01 -7.93658194e-02 -4.27274193e-03 2.10257848e+01] [ 7.93651099e-02 9.96845558e-01 -3.35618954e-04 5.97801866e-01] [ 4.28590049e-03 -4.54944283e-06 9.99990815e-01 -1.12563876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:0.60, Z:-0.11 [[ 9.96842083e-01 -7.92944258e-02 -4.27271287e-03 2.10540415e+01] [ 7.92937141e-02 9.96851240e-01 -3.35988611e-04 5.99663900e-01] [ 4.28590114e-03 -3.87168508e-06 9.99990815e-01 -1.13827389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:0.60, Z:-0.11 [[ 9.96919085e-01 -7.83203846e-02 -4.27269380e-03 2.10822918e+01] [ 7.83196629e-02 9.96928241e-01 -3.36230845e-04 6.01629932e-01] [ 4.28590285e-03 5.59007519e-07 9.99990815e-01 -1.13336195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:0.60, Z:-0.11 [[ 9.96961218e-01 -7.77822240e-02 -4.27267486e-03 2.11098499e+01] [ 7.77814963e-02 9.96970373e-01 -3.36471346e-04 6.03942952e-01] [ 4.28590175e-03 3.11383859e-06 9.99990815e-01 -1.12314326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:0.61, Z:-0.11 [[ 9.97022192e-01 -7.69967134e-02 -4.27261450e-03 2.11373704e+01] [ 7.69959752e-02 9.97031347e-01 -3.37236172e-04 6.06521607e-01] [ 4.28589666e-03 7.25782731e-06 9.99990815e-01 -1.10410636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.818623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.17, Y:0.61, Z:-0.11 [[ 9.97229690e-01 -7.42609637e-02 -4.27255098e-03 2.11652499e+01] [ 7.42601970e-02 9.97238842e-01 -3.38039038e-04 6.09648308e-01] [ 4.28585689e-03 1.98220885e-05 9.99990815e-01 -1.07968254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:0.61, Z:-0.11 [[ 9.97336391e-01 -7.28139278e-02 -4.27253119e-03 2.11932553e+01] [ 7.28131468e-02 9.97345543e-01 -3.38288905e-04 6.12826482e-01] [ 4.28582208e-03 2.62913953e-05 9.99990815e-01 -1.07257362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:0.62, Z:-0.11 [[ 9.97454840e-01 -7.11729412e-02 -4.27246853e-03 2.12212712e+01] [ 7.11721416e-02 9.97463990e-01 -3.39078426e-04 6.16219509e-01] [ 4.28576672e-03 3.41346821e-05 9.99990815e-01 -1.07132729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:0.62, Z:-0.11 [[ 9.97681289e-01 -6.79249055e-02 -4.27240542e-03 2.12476436e+01] [ 6.79240728e-02 9.97690435e-01 -3.39871822e-04 6.19604362e-01] [ 4.28562378e-03 4.88845805e-05 9.99990815e-01 -1.08419840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.938623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:0.62, Z:-0.11 [[ 9.97722984e-01 -6.73096901e-02 -4.27237802e-03 2.12753206e+01] [ 6.73088503e-02 9.97732130e-01 -3.40215907e-04 6.23018074e-01] [ 4.28558865e-03 5.18723774e-05 9.99990815e-01 -1.08652720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:0.63, Z:-0.11 [[ 9.97742566e-01 -6.70187953e-02 -4.27231393e-03 2.13029122e+01] [ 6.70179494e-02 9.97751712e-01 -3.41018861e-04 6.26495461e-01] [ 4.28556320e-03 5.39273152e-05 9.99990815e-01 -1.09663146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:0.63, Z:-0.11 [[ 9.97704454e-01 -6.75837971e-02 -4.27225014e-03 2.13302137e+01] [ 6.75829530e-02 9.97713600e-01 -3.41816080e-04 6.30755194e-01] [ 4.28558330e-03 5.23001449e-05 9.99990815e-01 -1.11435658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:0.63, Z:-0.11 [[ 9.97589709e-01 -6.92569171e-02 -4.27223027e-03 2.13576410e+01] [ 6.92560872e-02 9.97598856e-01 -3.42064240e-04 6.33216879e-01] [ 4.28566235e-03 4.53618130e-05 9.99990815e-01 -1.11306868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:0.63, Z:-0.11 [[ 9.97453234e-01 -7.11954727e-02 -4.27216730e-03 2.13850453e+01] [ 7.11946573e-02 9.97462382e-01 -3.42848859e-04 6.34923027e-01] [ 4.28573546e-03 3.78202159e-05 9.99990815e-01 -1.11427380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:0.64, Z:-0.11 [[ 9.97053769e-01 -7.65867455e-02 -4.27213983e-03 2.14131470e+01] [ 7.65859781e-02 9.97062922e-01 -3.43190913e-04 6.35860192e-01] [ 4.28587609e-03 1.49937865e-05 9.99990815e-01 -1.10565078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:0.64, Z:-0.11 [[ 9.96799342e-01 -7.98299512e-02 -4.27207721e-03 2.14408217e+01] [ 7.98292101e-02 9.96808497e-01 -3.43968571e-04 6.37246433e-01] [ 4.28590186e-03 1.83109555e-06 9.99990815e-01 -1.10578857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:0.64, Z:-0.11 [[ 9.96525209e-01 -8.31820714e-02 -4.27201448e-03 2.14686406e+01] [ 8.31813578e-02 9.96534366e-01 -3.44745913e-04 6.38019066e-01] [ 4.28588592e-03 -1.18039716e-05 9.99990815e-01 -1.10334629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:0.64, Z:-0.11 [[ 9.95993707e-01 -8.93212498e-02 -4.27195172e-03 2.14953461e+01] [ 8.93205893e-02 9.96002868e-01 -3.45521896e-04 6.36779025e-01] [ 4.28573861e-03 -3.74356108e-05 9.99990815e-01 -1.10795174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:0.64, Z:-0.11 [[ 9.95747085e-01 -9.20298565e-02 -4.27190897e-03 2.15232697e+01] [ 9.20292188e-02 9.95756247e-01 -3.46049582e-04 6.37433219e-01] [ 4.28562694e-03 -4.85625827e-05 9.99990815e-01 -1.11149103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:0.64, Z:-0.11 [[ 9.95361961e-01 -9.61057624e-02 -4.27184685e-03 2.15513739e+01] [ 9.61051588e-02 9.95371126e-01 -3.46814805e-04 6.35041092e-01] [ 4.28540391e-03 -6.53402553e-05 9.99990815e-01 -1.10748986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.58, Y:0.63, Z:-0.11 [[ 9.95231163e-01 -9.74509284e-02 -4.27178455e-03 2.15800099e+01] [ 9.74503339e-02 9.95240329e-01 -3.47580431e-04 6.34397011e-01] [ 4.28532430e-03 -7.03639545e-05 9.99990815e-01 -1.09760495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298623853000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.61, Y:0.63, Z:-0.11 [[ 9.95156930e-01 -9.82060893e-02 -4.27174382e-03 2.16073911e+01] [ 9.82054997e-02 9.95166096e-01 -3.48080260e-04 6.33583715e-01] [ 4.28527823e-03 -7.31142535e-05 9.99990815e-01 -1.11445098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:0.63, Z:-0.11 [[ 9.95114786e-01 -9.86322239e-02 -4.27171530e-03 2.16358974e+01] [ 9.86316367e-02 9.95123951e-01 -3.48430016e-04 6.33464308e-01] [ 4.28525263e-03 -7.45984107e-05 9.99990815e-01 -1.11436311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.66, Y:0.63, Z:-0.11 [[ 9.95160603e-01 -9.81688697e-02 -4.27165407e-03 2.16645576e+01] [ 9.81682750e-02 9.95169768e-01 -3.49178954e-04 6.31349654e-01] [ 4.28529950e-03 -7.18517738e-05 9.99990815e-01 -1.12282439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388623853000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:21.69, Y:0.63, Z:-0.11 [[ 9.95208519e-01 -9.76819178e-02 -4.27159675e-03 2.16931114e+01] [ 9.76813156e-02 9.95217684e-01 -3.49878814e-04 6.31648890e-01] [ 4.28534546e-03 -6.90528141e-05 9.99990815e-01 -1.09542979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:21.72, Y:0.63, Z:-0.11 [[ 9.95301260e-01 -9.67323932e-02 -4.27152991e-03 2.17201836e+01] [ 9.67317788e-02 9.95310424e-01 -3.50692983e-04 6.32266228e-01] [ 4.28542161e-03 -6.41475184e-05 9.99990815e-01 -1.06091323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:21.75, Y:0.63, Z:-0.11 [[ 9.95282931e-01 -9.69208045e-02 -4.27150091e-03 2.17485714e+01] [ 9.69201903e-02 9.95292095e-01 -3.51045874e-04 6.34795219e-01] [ 4.28541473e-03 -6.46047139e-05 9.99990815e-01 -1.05969209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.78, Y:0.63, Z:-0.11 [[ 9.95529933e-01 -9.43499215e-02 -4.27143430e-03 2.17769071e+01] [ 9.43492801e-02 9.95539095e-01 -3.51854468e-04 6.30912740e-01] [ 4.28557728e-03 -5.27250958e-05 9.99990815e-01 -1.10970199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:21.81, Y:0.63, Z:-0.10 [[ 9.95678725e-01 -9.27665399e-02 -4.27141361e-03 2.18051814e+01] [ 9.27658829e-02 9.95687886e-01 -3.52105407e-04 6.31585312e-01] [ 4.28565839e-03 -4.56575919e-05 9.99990815e-01 -1.03370551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.83, Y:0.63, Z:-0.11 [[ 9.96101428e-01 -8.81118610e-02 -4.27134271e-03 2.18331464e+01] [ 8.81111575e-02 9.96110586e-01 -3.52963482e-04 6.28767899e-01] [ 4.28582995e-03 -2.47655217e-05 9.99990815e-01 -1.07716170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.86, Y:0.63, Z:-0.11 [[ 9.96351719e-01 -8.52350099e-02 -4.27132059e-03 2.18607752e+01] [ 8.52342788e-02 9.96360875e-01 -3.53230965e-04 6.29568331e-01] [ 4.28588436e-03 -1.21206499e-05 9.99990815e-01 -1.05564803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.89, Y:0.63, Z:-0.10 [[ 9.96621901e-01 -8.20155041e-02 -4.27125089e-03 2.18890769e+01] [ 8.20147398e-02 9.96631054e-01 -3.54071722e-04 6.31252139e-01] [ 4.28590064e-03 2.57010240e-06 9.99990815e-01 -1.04762941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.92, Y:0.63, Z:-0.10 [[ 9.96919479e-01 -7.83154489e-02 -4.27118157e-03 2.19170069e+01] [ 7.83146471e-02 9.96928628e-01 -3.54905905e-04 6.32911797e-01] [ 4.28585780e-03 1.93165323e-05 9.99990815e-01 -1.04354452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:0.63, Z:-0.10 [[ 9.97509876e-01 -7.03974800e-02 -4.27111217e-03 2.19442936e+01] [ 7.03966021e-02 9.97519018e-01 -3.55739155e-04 6.34398584e-01] [ 4.28555876e-03 5.41815364e-05 9.99990815e-01 -1.04286617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688623853000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.97, Y:0.64, Z:-0.10 [[ 9.97768237e-01 -6.66355983e-02 -4.27106496e-03 2.19722049e+01] [ 6.66346834e-02 9.97777376e-01 -3.56305142e-04 6.37074266e-01] [ 4.28531459e-03 7.09088918e-05 9.99990815e-01 -1.03490752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.00, Y:0.64, Z:-0.10 [[ 9.98010239e-01 -6.29072384e-02 -4.27099627e-03 2.19987722e+01] [ 6.29062859e-02 9.98019374e-01 -3.57126547e-04 6.39727602e-01] [ 4.28500287e-03 8.77434382e-05 9.99990815e-01 -1.04101663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.03, Y:0.64, Z:-0.11 [[ 9.98408494e-01 -5.62337850e-02 -4.27096648e-03 2.20252637e+01] [ 5.62327699e-02 9.98417622e-01 -3.57482505e-04 6.43647865e-01] [ 4.28431079e-03 1.16745294e-04 9.99990815e-01 -1.07112754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.778623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.05, Y:0.65, Z:-0.10 [[ 9.98559423e-01 -5.34868018e-02 -4.27093754e-03 2.20531254e+01] [ 5.34857601e-02 9.98568548e-01 -3.57827876e-04 6.47478234e-01] [ 4.28396297e-03 1.28878057e-04 9.99990815e-01 -1.03257752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:0.65, Z:-0.10 [[ 9.98814463e-01 -4.84915212e-02 -4.27087001e-03 2.20797791e+01] [ 4.84904305e-02 9.98823583e-01 -3.58632135e-04 6.53192095e-01] [ 4.28323630e-03 1.51110638e-04 9.99990815e-01 -1.02730956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.11, Y:0.66, Z:-0.10 [[ 9.98888211e-01 -4.69478695e-02 -4.27084076e-03 2.21075693e+01] [ 4.69467632e-02 9.98897328e-01 -3.58980168e-04 6.57411622e-01] [ 4.28298477e-03 1.58078908e-04 9.99990815e-01 -1.02253436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.13, Y:0.66, Z:-0.10 [[ 9.98934483e-01 -4.59527908e-02 -4.27077320e-03 2.21343057e+01] [ 4.59516720e-02 9.98943599e-01 -3.59782113e-04 6.61559648e-01] [ 4.28279454e-03 1.63149590e-04 9.99990815e-01 -1.01983840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.898623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.16, Y:0.67, Z:-0.10 [[ 9.98962616e-01 -4.53371081e-02 -4.27074382e-03 2.21607634e+01] [ 4.53359821e-02 9.98971731e-01 -3.60130543e-04 6.65626378e-01] [ 4.28267962e-03 1.66138584e-04 9.99990815e-01 -1.02832884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:0.67, Z:-0.10 [[ 9.98932686e-01 -4.59918550e-02 -4.27071474e-03 2.21880694e+01] [ 4.59907335e-02 9.98941801e-01 -3.60475007e-04 6.72174243e-01] [ 4.28277439e-03 1.63676963e-04 9.99990815e-01 -1.03663174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.958623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:0.68, Z:-0.10 [[ 9.98879831e-01 -4.71258437e-02 -4.27064825e-03 2.22157682e+01] [ 4.71247293e-02 9.98888947e-01 -3.61260978e-04 6.77054406e-01] [ 4.28292807e-03 1.59603162e-04 9.99990815e-01 -1.02971614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.24, Y:0.68, Z:-0.10 [[ 9.98711365e-01 -5.05704599e-02 -4.27058182e-03 2.22432175e+01] [ 5.05693735e-02 9.98720485e-01 -3.62044619e-04 6.84031016e-01] [ 4.28342631e-03 1.45617428e-04 9.99990815e-01 -1.01111797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.27, Y:0.69, Z:-0.10 [[ 9.98574981e-01 -5.31955842e-02 -4.27056117e-03 2.22711669e+01] [ 5.31945208e-02 9.98584103e-01 -3.62288062e-04 6.88576075e-01] [ 4.28378662e-03 1.34601340e-04 9.99990815e-01 -1.00330920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:0.69, Z:-0.10 [[ 9.98415297e-01 -5.61129072e-02 -4.27049522e-03 2.22992687e+01] [ 5.61118671e-02 9.98424422e-01 -3.63063780e-04 6.92945991e-01] [ 4.28413929e-03 1.22862972e-04 9.99990815e-01 -9.99427159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:0.70, Z:-0.10 [[ 9.98238678e-01 -5.91718311e-02 -4.27042878e-03 2.23269470e+01] [ 5.91708156e-02 9.98247806e-01 -3.63843544e-04 6.96774794e-01] [ 4.28447545e-03 1.10517944e-04 9.99990815e-01 -9.91373932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:0.70, Z:-0.10 [[ 9.97855312e-01 -6.53187526e-02 -4.27035991e-03 2.23543840e+01] [ 6.53177900e-02 9.97864446e-01 -3.64650149e-04 7.01665270e-01] [ 4.28505882e-03 8.49376168e-05 9.99990815e-01 -9.97824360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:0.71, Z:-0.10 [[ 9.97665075e-01 -6.81627599e-02 -4.27031668e-03 2.23810097e+01] [ 6.81618211e-02 9.97674212e-01 -3.65155686e-04 7.05072549e-01] [ 4.28527484e-03 7.32305138e-05 9.99990815e-01 -1.00717666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.41, Y:0.71, Z:-0.10 [[ 9.97472612e-01 -7.09235708e-02 -4.27026901e-03 2.24085689e+01] [ 7.09226549e-02 9.97481751e-01 -3.65712255e-04 7.08773607e-01] [ 4.28545303e-03 6.19291428e-05 9.99990815e-01 -1.01718632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.44, Y:0.71, Z:-0.10 [[ 9.97263719e-01 -7.38027072e-02 -4.27020004e-03 2.24367187e+01] [ 7.38018143e-02 9.97272860e-01 -3.66515798e-04 7.12658919e-01] [ 4.28560447e-03 5.03643970e-05 9.99990815e-01 -1.01796564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228623853000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.46, Y:0.72, Z:-0.10 [[ 9.96874612e-01 -7.88845637e-02 -4.27012897e-03 2.24640627e+01] [ 7.88837138e-02 9.96883757e-01 -3.67341930e-04 7.17591096e-01] [ 4.28579982e-03 2.93502113e-05 9.99990815e-01 -1.02774716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.258623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:0.72, Z:-0.10 [[ 9.96687138e-01 -8.12189306e-02 -4.27005788e-03 2.24910597e+01] [ 8.12180986e-02 9.96696285e-01 -3.68166524e-04 7.21497700e-01] [ 4.28585292e-03 2.01408577e-05 9.99990815e-01 -1.03205951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:0.73, Z:-0.10 [[ 9.96487602e-01 -8.36314940e-02 -4.27002683e-03 2.25181603e+01] [ 8.36306827e-02 9.96496750e-01 -3.68526229e-04 7.25467415e-01] [ 4.28588826e-03 1.01265592e-05 9.99990815e-01 -1.03745391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.318623853000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.55, Y:0.73, Z:-0.10 [[ 9.96117105e-01 -8.79345218e-02 -4.26999644e-03 2.25462713e+01] [ 8.79337484e-02 9.96126257e-01 -3.68878068e-04 7.30753728e-01] [ 4.28589269e-03 -8.03103944e-06 9.99990815e-01 -1.01883132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.57, Y:0.73, Z:-0.10 [[ 9.95971714e-01 -8.95662519e-02 -4.26992540e-03 2.25728175e+01] [ 8.95654901e-02 9.95980866e-01 -3.69698514e-04 7.34055344e-01] [ 4.28587651e-03 -1.42286985e-05 9.99990815e-01 -1.03468099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.378623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:22.60, Y:0.74, Z:-0.10 [[ 9.95820266e-01 -9.12346757e-02 -4.26989456e-03 2.26004439e+01] [ 9.12339276e-02 9.95829420e-01 -3.70054414e-04 7.36982013e-01] [ 4.28584841e-03 -2.10515663e-05 9.99990815e-01 -1.01251437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.63, Y:0.74, Z:-0.10 [[ 9.95599415e-01 -9.36139638e-02 -4.26982420e-03 2.26267259e+01] [ 9.36132341e-02 9.95608570e-01 -3.70864436e-04 7.40898131e-01] [ 4.28579166e-03 -3.04796372e-05 9.99990815e-01 -1.01967552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.438623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.65, Y:0.74, Z:-0.10 [[ 9.95533338e-01 -9.43140591e-02 -4.26979345e-03 2.26531279e+01] [ 9.43133344e-02 9.95542494e-01 -3.71218143e-04 7.44709699e-01] [ 4.28577191e-03 -3.31384199e-05 9.99990815e-01 -1.04082751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.68, Y:0.75, Z:-0.10 [[ 9.95489799e-01 -9.47725085e-02 -4.26976338e-03 2.26803918e+01] [ 9.47717865e-02 9.95498956e-01 -3.71563724e-04 7.48318994e-01] [ 4.28575901e-03 -3.47652057e-05 9.99990815e-01 -1.04614766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.71, Y:0.75, Z:-0.10 [[ 9.95433930e-01 -9.53575429e-02 -4.26973519e-03 2.27085732e+01] [ 9.53568249e-02 9.95443086e-01 -3.71887397e-04 7.52790554e-01] [ 4.28574064e-03 -3.69590578e-05 9.99990815e-01 -1.01917556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:0.76, Z:-0.10 [[ 9.95425036e-01 -9.54503423e-02 -4.26966217e-03 2.27353793e+01] [ 9.54496215e-02 9.95434192e-01 -3.72723766e-04 7.56012278e-01] [ 4.28574433e-03 -3.65190702e-05 9.99990815e-01 -1.03633281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.76, Y:0.76, Z:-0.10 [[ 9.95411544e-01 -9.55909477e-02 -4.26963037e-03 2.27636065e+01] [ 9.55902267e-02 9.95420700e-01 -3.73087684e-04 7.59133587e-01] [ 4.28574226e-03 -3.67591482e-05 9.99990815e-01 -1.03763658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:0.76, Z:-0.10 [[ 9.95331526e-01 -9.64205635e-02 -4.26956206e-03 2.27911770e+01] [ 9.64198468e-02 9.95340682e-01 -3.73867845e-04 7.61952727e-01] [ 4.28571736e-03 -3.95480668e-05 9.99990815e-01 -1.04759471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.618623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.82, Y:0.76, Z:-0.10 [[ 9.95270589e-01 -9.70475445e-02 -4.26949377e-03 2.28175655e+01] [ 9.70468302e-02 9.95279746e-01 -3.74646082e-04 7.64751299e-01] [ 4.28569916e-03 -4.14666105e-05 9.99990815e-01 -1.04872901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.84, Y:0.77, Z:-0.10 [[ 9.95230172e-01 -9.74611494e-02 -4.26946406e-03 2.28449903e+01] [ 9.74604374e-02 9.95239329e-01 -3.74984374e-04 7.67521295e-01] [ 4.28568495e-03 -4.29080714e-05 9.99990815e-01 -1.04428576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.87, Y:0.77, Z:-0.10 [[ 9.95169951e-01 -9.80741648e-02 -4.26939587e-03 2.28717219e+01] [ 9.80734552e-02 9.95179108e-01 -3.75759097e-04 7.69802416e-01] [ 4.28566583e-03 -4.47702425e-05 9.99990815e-01 -1.04565359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708623853000002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:22.90, Y:0.77, Z:-0.10 [[ 9.95175614e-01 -9.80166777e-02 -4.26936629e-03 2.28993444e+01] [ 9.80159661e-02 9.95184771e-01 -3.76094859e-04 7.72266152e-01] [ 4.28567189e-03 -4.41856299e-05 9.99990815e-01 -9.99246031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:22.93, Y:0.77, Z:-0.10 [[ 9.95136325e-01 -9.84147728e-02 -4.26929859e-03 2.29275210e+01] [ 9.84140616e-02 9.95145482e-01 -3.76861833e-04 7.73965654e-01] [ 4.28566198e-03 -4.51301146e-05 9.99990815e-01 -1.03782380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.96, Y:0.78, Z:-0.10 [[ 9.95115582e-01 -9.86243017e-02 -4.26923117e-03 2.29558668e+01] [ 9.86235891e-02 9.95124738e-01 -3.77624099e-04 7.76089262e-01] [ 4.28566046e-03 -4.52672756e-05 9.99990815e-01 -1.03871987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798623853000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.98, Y:0.78, Z:-0.10 [[ 9.95059601e-01 -9.91875201e-02 -4.26916393e-03 2.29838720e+01] [ 9.91868095e-02 9.95068758e-01 -3.78382763e-04 7.76228353e-01] [ 4.28564249e-03 -4.69313481e-05 9.99990815e-01 -1.02189776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:23.01, Y:0.78, Z:-0.10 [[ 9.95044979e-01 -9.93341028e-02 -4.26909316e-03 2.30106949e+01] [ 9.93333901e-02 9.95054136e-01 -3.79179522e-04 7.78401094e-01] [ 4.28564426e-03 -4.67628159e-05 9.99990815e-01 -9.90349190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.858623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.04, Y:0.78, Z:-0.10 [[ 9.95037236e-01 -9.94116366e-02 -4.26906229e-03 2.30387959e+01] [ 9.94109231e-02 9.95046393e-01 -3.79526697e-04 7.80220915e-01] [ 4.28564441e-03 -4.67482272e-05 9.99990815e-01 -1.01479322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.07, Y:0.78, Z:-0.10 [[ 9.95032486e-01 -9.94591774e-02 -4.26899577e-03 2.30670863e+01] [ 9.94584612e-02 9.95041642e-01 -3.80273523e-04 7.82474638e-01] [ 4.28565025e-03 -4.62032408e-05 9.99990815e-01 -1.02187926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.10, Y:0.78, Z:-0.10 [[ 9.95030116e-01 -9.94828852e-02 -4.26892928e-03 2.30958043e+01] [ 9.94821660e-02 9.95039272e-01 -3.81018470e-04 7.82365754e-01] [ 4.28565710e-03 -4.55574783e-05 9.99990815e-01 -1.02172156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:23.12, Y:0.78, Z:-0.10 [[ 9.95032189e-01 -9.94621521e-02 -4.26886640e-03 2.31236547e+01] [ 9.94614296e-02 9.95041345e-01 -3.81721603e-04 7.83954638e-01] [ 4.28566542e-03 -4.47622731e-05 9.99990815e-01 -9.99340619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.978623853000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:23.15, Y:0.78, Z:-0.10 [[ 9.94973363e-01 -1.00048910e-01 -4.26884410e-03 2.31517172e+01] [ 1.00048192e-01 9.94982519e-01 -3.81970825e-04 7.83725697e-01] [ 4.28564102e-03 -4.70393388e-05 9.99990815e-01 -1.04684927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.18, Y:0.79, Z:-0.10 [[ 9.94948055e-01 -1.00300272e-01 -4.26882363e-03 2.31793310e+01] [ 1.00299555e-01 9.94957212e-01 -3.82199505e-04 7.85058405e-01] [ 4.28563157e-03 -4.78924576e-05 9.99990815e-01 -1.01527061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.038623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.21, Y:0.79, Z:-0.10 [[ 9.94990626e-01 -9.98770888e-02 -4.26875229e-03 2.32074590e+01] [ 9.98763648e-02 9.94999781e-01 -3.82994654e-04 7.85972555e-01] [ 4.28565998e-03 -4.52713698e-05 9.99990815e-01 -1.00094414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.23, Y:0.79, Z:-0.10 [[ 9.95085653e-01 -9.89258415e-02 -4.26867974e-03 2.32348115e+01] [ 9.89251052e-02 9.95094808e-01 -3.83801536e-04 7.87372093e-01] [ 4.28570894e-03 -4.03641903e-05 9.99990815e-01 -9.92523089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.098623853000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.26, Y:0.79, Z:-0.10 [[ 9.95372543e-01 -9.59962433e-02 -4.26865718e-03 2.32632526e+01] [ 9.59954790e-02 9.95381696e-01 -3.84052297e-04 7.89037727e-01] [ 4.28581080e-03 -2.74966794e-05 9.99990815e-01 -9.65599791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.29, Y:0.79, Z:-0.10 [[ 9.95524039e-01 -9.44122143e-02 -4.26859134e-03 2.32904443e+01] [ 9.44114323e-02 9.95533191e-01 -3.84782742e-04 7.91648224e-01] [ 4.28585254e-03 -1.99433523e-05 9.99990815e-01 -9.79576672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.158623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.32, Y:0.79, Z:-0.10 [[ 9.95643650e-01 -9.31423715e-02 -4.26855849e-03 2.33182171e+01] [ 9.31415763e-02 9.95652800e-01 -3.85146777e-04 7.93877455e-01] [ 4.28587570e-03 -1.41113228e-05 9.99990815e-01 -9.73672191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.35, Y:0.80, Z:-0.10 [[ 9.95724918e-01 -9.22695385e-02 -4.26848407e-03 2.33463940e+01] [ 9.22687318e-02 9.95734067e-01 -3.85969829e-04 7.95982286e-01] [ 4.28588826e-03 -9.52783522e-06 9.99990815e-01 -9.81960885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:23.37, Y:0.80, Z:-0.09 [[ 9.95868848e-01 -9.07029085e-02 -4.26840967e-03 2.33748195e+01] [ 9.07020838e-02 9.95877996e-01 -3.86790875e-04 7.97347627e-01] [ 4.28589832e-03 -1.96066757e-06 9.99990815e-01 -9.42449822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:23.40, Y:0.80, Z:-0.10 [[ 9.95858956e-01 -9.08114554e-02 -4.26833527e-03 2.34028068e+01] [ 9.08106282e-02 9.95868103e-01 -3.87610126e-04 7.99791968e-01] [ 4.28589839e-03 -1.60519112e-06 9.99990815e-01 -9.79816544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.278623853000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:23.43, Y:0.80, Z:-0.10 [[ 9.95858294e-01 -9.08187269e-02 -4.26826074e-03 2.34302637e+01] [ 9.08178963e-02 9.95867440e-01 -3.88429088e-04 8.02386906e-01] [ 4.28589853e-03 -8.14132357e-07 9.99990815e-01 -9.79542818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:23.46, Y:0.80, Z:-0.10 [[ 9.95815023e-01 -9.12919591e-02 -4.26818611e-03 2.34583517e+01] [ 9.12911293e-02 9.95824170e-01 -3.89247423e-04 8.04096274e-01] [ 4.28589805e-03 -2.02909853e-06 9.99990815e-01 -9.86391223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.338623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.49, Y:0.81, Z:-0.10 [[ 9.95739729e-01 -9.21095795e-02 -4.26811071e-03 2.34852825e+01] [ 9.21087536e-02 9.95748877e-01 -3.90072402e-04 8.05806147e-01] [ 4.28589585e-03 -4.71976996e-06 9.99990815e-01 -1.00205172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368623853000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.51, Y:0.81, Z:-0.10 [[ 9.95665725e-01 -9.29061175e-02 -4.26807786e-03 2.35137420e+01] [ 9.29052974e-02 9.95674873e-01 -3.90431511e-04 8.07409281e-01] [ 4.28589136e-03 -7.78776987e-06 9.99990815e-01 -1.01045476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.398623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.54, Y:0.81, Z:-0.10 [[ 9.95648238e-01 -9.30933391e-02 -4.26800431e-03 2.35421030e+01] [ 9.30925173e-02 9.95657386e-01 -3.91233919e-04 8.10210151e-01] [ 4.28589128e-03 -7.78790249e-06 9.99990815e-01 -1.00923404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.57, Y:0.81, Z:-0.10 [[ 9.95526310e-01 -9.43882980e-02 -4.26793059e-03 2.35709608e+01] [ 9.43874847e-02 9.95535458e-01 -3.92036446e-04 8.11139049e-01] [ 4.28587989e-03 -1.25566366e-05 9.99990815e-01 -1.01779590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.458623853000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:23.60, Y:0.81, Z:-0.10 [[ 9.95472814e-01 -9.49508369e-02 -4.26786475e-03 2.35990015e+01] [ 9.49500257e-02 9.95481963e-01 -3.92751957e-04 8.12824224e-01] [ 4.28587450e-03 -1.42599717e-05 9.99990815e-01 -1.00428272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:23.63, Y:0.81, Z:-0.10 [[ 9.95453427e-01 -9.51538791e-02 -4.26778622e-03 2.36263304e+01] [ 9.51530661e-02 9.95462575e-01 -3.93603382e-04 8.14636237e-01] [ 4.28587435e-03 -1.42791091e-05 9.99990815e-01 -1.01367332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.518623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.65, Y:0.82, Z:-0.10 [[ 9.95449165e-01 -9.51984535e-02 -4.26773255e-03 2.36537671e+01] [ 9.51976384e-02 9.95458314e-01 -3.94184486e-04 8.17199033e-01] [ 4.28587560e-03 -1.38874424e-05 9.99990815e-01 -1.01323858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548623853000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.68, Y:0.82, Z:-0.10 [[ 9.95531270e-01 -9.43359836e-02 -4.26765669e-03 2.36818462e+01] [ 9.43351571e-02 9.95540417e-01 -3.95004082e-04 8.19811069e-01] [ 4.28588782e-03 -9.35114833e-06 9.99990815e-01 -1.00406098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.578623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:23.71, Y:0.82, Z:-0.10 [[ 9.95571097e-01 -9.39147399e-02 -4.26763318e-03 2.37089444e+01] [ 9.39139084e-02 9.95580244e-01 -3.95257902e-04 8.21878190e-01] [ 4.28589183e-03 -7.28276843e-06 9.99990815e-01 -1.01072050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.74, Y:0.82, Z:-0.10 [[ 9.95593391e-01 -9.36781036e-02 -4.26760050e-03 2.37371222e+01] [ 9.36772684e-02 9.95602538e-01 -3.95610495e-04 8.24143320e-01] [ 4.28589392e-03 -5.90996300e-06 9.99990815e-01 -1.00692398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.638623853000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:23.77, Y:0.83, Z:-0.10 [[ 9.95601047e-01 -9.35967005e-02 -4.26757809e-03 2.37653064e+01] [ 9.35958635e-02 9.95610194e-01 -3.95852020e-04 8.26003184e-01] [ 4.28589469e-03 -5.31697129e-06 9.99990815e-01 -9.82868204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:23.79, Y:0.83, Z:-0.10 [[ 9.95588208e-01 -9.37331803e-02 -4.26749985e-03 2.37921695e+01] [ 9.37323410e-02 9.95597354e-01 -3.96693766e-04 8.27880893e-01] [ 4.28589492e-03 -5.05911540e-06 9.99990815e-01 -9.88921777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.698623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.82, Y:0.83, Z:-0.10 [[ 9.95555437e-01 -9.40806091e-02 -4.26744658e-03 2.38203095e+01] [ 9.40797705e-02 9.95564583e-01 -3.97265975e-04 8.30402841e-01] [ 4.28589370e-03 -5.98009351e-06 9.99990815e-01 -9.82820673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728623853000002 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:23.85, Y:0.83, Z:-0.09 [[ 9.95546732e-01 -9.41726769e-02 -4.26736989e-03 2.38472966e+01] [ 9.41718357e-02 9.95555878e-01 -3.98088054e-04 8.33106947e-01] [ 4.28589420e-03 -5.55079401e-06 9.99990815e-01 -9.29979491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.758623853000003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:23.87, Y:0.84, Z:-0.09 [[ 9.95481192e-01 -9.48629913e-02 -4.26733644e-03 2.38748874e+01] [ 9.48621549e-02 9.95490338e-01 -3.98446317e-04 8.36026110e-01] [ 4.28589000e-03 -8.16291571e-06 9.99990815e-01 -9.41695665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:23.90, Y:0.84, Z:-0.10 [[ 9.95418584e-01 -9.55177125e-02 -4.26725953e-03 2.39024829e+01] [ 9.55168786e-02 9.95427730e-01 -3.99268237e-04 8.38144838e-01] [ 4.28588566e-03 -1.01562881e-05 9.99990815e-01 -9.66961390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818623853000002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:23.93, Y:0.84, Z:-0.09 [[ 9.95373155e-01 -9.59899622e-02 -4.26723558e-03 2.39304662e+01] [ 9.59891315e-02 9.95382302e-01 -3.99524053e-04 8.39564498e-01] [ 4.28588108e-03 -1.19327201e-05 9.99990815e-01 -9.25674386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848623853000003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:23.96, Y:0.84, Z:-0.09 [[ 9.95357688e-01 -9.61502126e-02 -4.26715898e-03 2.39572512e+01] [ 9.61493798e-02 9.95366835e-01 -4.00340559e-04 8.42342626e-01] [ 4.28588136e-03 -1.18026361e-05 9.99990815e-01 -9.34617585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:23.98, Y:0.85, Z:-0.10 [[ 9.95316099e-01 -9.65797877e-02 -4.26712572e-03 2.39846233e+01] [ 9.65789574e-02 9.95325246e-01 -4.00694709e-04 8.45271103e-01] [ 4.28587697e-03 -1.32966587e-05 9.99990815e-01 -9.68671191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.01, Y:0.85, Z:-0.09 [[ 9.95397143e-01 -9.57408952e-02 -4.26704976e-03 2.40122153e+01] [ 9.57400538e-02 9.95406289e-01 -4.01502011e-04 8.47526806e-01] [ 4.28588833e-03 -8.87361842e-06 9.99990815e-01 -9.45935132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938623853000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:24.04, Y:0.85, Z:-0.09 [[ 9.95458345e-01 -9.51024507e-02 -4.26701426e-03 2.40399025e+01] [ 9.51016017e-02 9.95467490e-01 -4.01878945e-04 8.50868744e-01] [ 4.28589365e-03 -5.74614120e-06 9.99990815e-01 -9.34773894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:24.07, Y:0.85, Z:-0.09 [[ 9.95531876e-01 -9.43296185e-02 -4.26693886e-03 2.40681498e+01] [ 9.43287590e-02 9.95541020e-01 -4.02677890e-04 8.54710173e-01] [ 4.28589712e-03 -1.61637304e-06 9.99990815e-01 -9.36704487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:24.10, Y:0.86, Z:-0.09 [[ 9.95612670e-01 -9.34730172e-02 -4.26686354e-03 2.40953547e+01] [ 9.34721465e-02 9.95621813e-01 -4.03474494e-04 8.57812021e-01] [ 4.28589639e-03 2.87142472e-06 9.99990815e-01 -9.42091320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028623853000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:24.12, Y:0.86, Z:-0.09 [[ 9.95665855e-01 -9.29047837e-02 -4.26681206e-03 2.41234355e+01] [ 9.29039054e-02 9.95674998e-01 -4.04018086e-04 8.60223807e-01] [ 4.28589331e-03 5.86350841e-06 9.99990815e-01 -9.41113751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.15, Y:0.86, Z:-0.10 [[ 9.95718740e-01 -9.23362633e-02 -4.26673742e-03 2.41501510e+01] [ 9.23353764e-02 9.95727882e-01 -4.04804847e-04 8.61902887e-01] [ 4.28588758e-03 9.10096671e-06 9.99990816e-01 -9.53990040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.18, Y:0.86, Z:-0.10 [[ 9.95695804e-01 -9.25832697e-02 -4.26670500e-03 2.41774750e+01] [ 9.25823836e-02 9.95704945e-01 -4.05146282e-04 8.64072871e-01] [ 4.28588904e-03 8.38073398e-06 9.99990816e-01 -9.55918429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118623853000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.21, Y:0.87, Z:-0.09 [[ 9.95631368e-01 -9.32736518e-02 -4.26667276e-03 2.42051648e+01] [ 9.32727706e-02 9.95640510e-01 -4.05485527e-04 8.65374173e-01] [ 4.28589336e-03 5.74972036e-06 9.99990816e-01 -9.28017606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.23, Y:0.87, Z:-0.09 [[ 9.95623713e-01 -9.33553307e-02 -4.26663847e-03 2.42332131e+01] [ 9.33544487e-02 9.95632855e-01 -4.05845993e-04 8.67614536e-01] [ 4.28589333e-03 5.76021230e-06 9.99990816e-01 -9.04799332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.26, Y:0.87, Z:-0.09 [[ 9.95611159e-01 -9.34891271e-02 -4.26656240e-03 2.42602224e+01] [ 9.34882429e-02 9.95620301e-01 -4.06644153e-04 8.70108296e-01] [ 4.28589295e-03 5.98603471e-06 9.99990816e-01 -9.00535972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208623853000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.29, Y:0.87, Z:-0.09 [[ 9.95687984e-01 -9.26673343e-02 -4.26651057e-03 2.42883925e+01] [ 9.26664402e-02 9.95697125e-01 -4.07187268e-04 8.72555967e-01] [ 4.28588526e-03 1.00691243e-05 9.99990816e-01 -8.91130919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.32, Y:0.87, Z:-0.09 [[ 9.95765157e-01 -9.18343595e-02 -4.26643762e-03 2.43165872e+01] [ 9.18334546e-02 9.95774297e-01 -4.07950097e-04 8.74367408e-01] [ 4.28587276e-03 1.44207868e-05 9.99990816e-01 -8.87532806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.34, Y:0.88, Z:-0.09 [[ 9.95852902e-01 -9.08779159e-02 -4.26636220e-03 2.43439604e+01] [ 9.08769988e-02 9.95862041e-01 -4.08737356e-04 8.76437110e-01] [ 4.28585337e-03 1.93280892e-05 9.99990816e-01 -8.95043959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.298623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.37, Y:0.88, Z:-0.09 [[ 9.96134488e-01 -8.77375689e-02 -4.26632947e-03 2.43714555e+01] [ 8.77366215e-02 9.96143623e-01 -4.09078760e-04 8.78801021e-01] [ 4.28576847e-03 3.31841280e-05 9.99990816e-01 -9.04479692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.40, Y:0.88, Z:-0.09 [[ 9.96295867e-01 -8.58856431e-02 -4.26625453e-03 2.43986455e+01] [ 8.58846754e-02 9.96305001e-01 -4.09858748e-04 8.82350275e-01] [ 4.28569171e-03 4.19346913e-05 9.99990816e-01 -9.17044920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.358623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.43, Y:0.89, Z:-0.09 [[ 9.96470765e-01 -8.38320601e-02 -4.26620348e-03 2.44252050e+01] [ 8.38310713e-02 9.96479896e-01 -4.10389455e-04 8.85998234e-01] [ 4.28558979e-03 5.13006858e-05 9.99990816e-01 -9.25258560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388623853000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.45, Y:0.89, Z:-0.09 [[ 9.96731761e-01 -8.06696741e-02 -4.26617223e-03 2.44531196e+01] [ 8.06686549e-02 9.96740889e-01 -4.10714097e-04 8.90966207e-01] [ 4.28540047e-03 6.52254106e-05 9.99990816e-01 -9.34226699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.418623853000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:24.48, Y:0.89, Z:-0.09 [[ 9.96841773e-01 -7.92986740e-02 -4.26609846e-03 2.44800802e+01] [ 7.92976390e-02 9.96850899e-01 -4.11478944e-04 8.93929707e-01] [ 4.28529382e-03 7.18878654e-05 9.99990816e-01 -9.42095277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:24.51, Y:0.90, Z:-0.09 [[ 9.96910958e-01 -7.84241243e-02 -4.26606641e-03 2.45077283e+01] [ 7.84230799e-02 9.96920083e-01 -4.11810939e-04 8.97339126e-01] [ 4.28522319e-03 7.59807705e-05 9.99990816e-01 -9.48926166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.478623853000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.54, Y:0.90, Z:-0.09 [[ 9.96971532e-01 -7.76502834e-02 -4.26599315e-03 2.45359047e+01] [ 7.76492287e-02 9.96980655e-01 -4.12568396e-04 9.00823941e-01] [ 4.28514870e-03 8.00678677e-05 9.99990816e-01 -9.49517991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508623853000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.56, Y:0.91, Z:-0.09 [[ 9.97100246e-01 -7.59796178e-02 -4.26591981e-03 2.45637675e+01] [ 7.59785445e-02 9.97109367e-01 -4.13325316e-04 9.05894910e-01] [ 4.28499291e-03 8.80083959e-05 9.99990816e-01 -9.41292147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.538623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:24.59, Y:0.91, Z:-0.09 [[ 9.97136093e-01 -7.55077077e-02 -4.26589701e-03 2.45909507e+01] [ 7.55066291e-02 9.97145214e-01 -4.13560518e-04 9.10697125e-01] [ 4.28494580e-03 9.02726163e-05 9.99990816e-01 -9.35441477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568623853000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.62, Y:0.92, Z:-0.09 [[ 9.97134194e-01 -7.55327892e-02 -4.26582440e-03 2.46197743e+01] [ 7.55317076e-02 9.97143314e-01 -4.14308153e-04 9.15176466e-01] [ 4.28493213e-03 9.09158249e-05 9.99990816e-01 -9.22196300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598623853000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.65, Y:0.92, Z:-0.09 [[ 9.97069500e-01 -7.63820304e-02 -4.26576121e-03 2.46469049e+01] [ 7.63809539e-02 9.97078622e-01 -4.14957738e-04 9.21518819e-01] [ 4.28499462e-03 8.79187946e-05 9.99990816e-01 -8.94678372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.67, Y:0.93, Z:-0.09 [[ 9.97023717e-01 -7.69773514e-02 -4.26568342e-03 2.46734828e+01] [ 7.69762769e-02 9.97032838e-01 -4.15755865e-04 9.25638640e-01] [ 4.28503023e-03 8.61620296e-05 9.99990816e-01 -8.98193128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.70, Y:0.93, Z:-0.09 [[ 9.96951881e-01 -7.79021956e-02 -4.26564947e-03 2.47012530e+01] [ 7.79011280e-02 9.96961003e-01 -4.16103903e-04 9.30078442e-01] [ 4.28510158e-03 8.25366628e-05 9.99990816e-01 -8.85109243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688623853000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.73, Y:0.93, Z:-0.09 [[ 9.96881870e-01 -7.87930343e-02 -4.26556808e-03 2.47280106e+01] [ 7.87919713e-02 9.96890993e-01 -4.16936640e-04 9.34477116e-01] [ 4.28515810e-03 7.95440604e-05 9.99990816e-01 -8.96978893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.718623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:24.75, Y:0.94, Z:-0.09 [[ 9.96721035e-01 -8.08021264e-02 -4.26551219e-03 2.47544738e+01] [ 8.08010793e-02 9.96730160e-01 -4.17507614e-04 9.41591510e-01] [ 4.28530015e-03 7.14806322e-05 9.99990816e-01 -8.96825959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.78, Y:0.95, Z:-0.09 [[ 9.96654477e-01 -8.16189886e-02 -4.26547808e-03 2.47823539e+01] [ 8.16179475e-02 9.96663602e-01 -4.17855829e-04 9.46668437e-01] [ 4.28535172e-03 6.83183168e-05 9.99990816e-01 -9.08204168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778623853000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:24.81, Y:0.95, Z:-0.09 [[ 9.96575620e-01 -8.25762679e-02 -4.26545419e-03 2.48096070e+01] [ 8.25752346e-02 9.96584746e-01 -4.18099552e-04 9.51796926e-01] [ 4.28541168e-03 6.44469402e-05 9.99990816e-01 -8.96694273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:24.84, Y:0.96, Z:-0.09 [[ 9.96405927e-01 -8.45992576e-02 -4.26543212e-03 2.48379265e+01] [ 8.45982418e-02 9.96415055e-01 -4.18324551e-04 9.59313984e-01] [ 4.28553073e-03 5.59730046e-05 9.99990816e-01 -8.66553242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.86, Y:0.96, Z:-0.09 [[ 9.96324657e-01 -8.55510685e-02 -4.26536879e-03 2.48646055e+01] [ 8.55500587e-02 9.96333785e-01 -4.18969255e-04 9.64434731e-01] [ 4.28557430e-03 5.25268487e-05 9.99990816e-01 -8.65177227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868623853000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.89, Y:0.97, Z:-0.08 [[ 9.96250430e-01 -8.64111509e-02 -4.26533728e-03 2.48923417e+01] [ 8.64101476e-02 9.96259560e-01 -4.19289841e-04 9.69315419e-01] [ 4.28561436e-03 4.91492602e-05 9.99990816e-01 -8.43508556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.92, Y:0.97, Z:-0.08 [[ 9.96206579e-01 -8.69152397e-02 -4.26525764e-03 2.49194981e+01] [ 8.69142376e-02 9.96215709e-01 -4.20098398e-04 9.73834922e-01] [ 4.28562962e-03 4.77931723e-05 9.99990816e-01 -8.48140861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.95, Y:0.98, Z:-0.08 [[ 9.96088638e-01 -8.82566348e-02 -4.26522287e-03 2.49472203e+01] [ 8.82556435e-02 9.96097769e-01 -4.20451113e-04 9.82190481e-01] [ 4.28568659e-03 4.23765870e-05 9.99990816e-01 -8.39301990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958623853000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:24.97, Y:0.99, Z:-0.09 [[ 9.96008648e-01 -8.91548147e-02 -4.26514287e-03 2.49735594e+01] [ 8.91538281e-02 9.96017780e-01 -4.21261115e-04 9.87950596e-01] [ 4.28571559e-03 3.93258997e-05 9.99990816e-01 -8.55343534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:25.00, Y:0.99, Z:-0.09 [[ 9.95886252e-01 -9.05117811e-02 -4.26508753e-03 2.50016298e+01] [ 9.05108046e-02 9.95895384e-01 -4.21820636e-04 9.93332245e-01] [ 4.28576073e-03 3.40488682e-05 9.99990816e-01 -8.63608789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:25.03, Y:1.00, Z:-0.09 [[ 9.95558862e-01 -9.40444648e-02 -4.26500652e-03 2.50290670e+01] [ 9.40435172e-02 9.95567998e-01 -4.22638224e-04 9.99671611e-01] [ 4.28585078e-03 1.96650165e-05 9.99990816e-01 -8.72138606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048623853000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:25.06, Y:1.00, Z:-0.09 [[ 9.95375472e-01 -9.59660363e-02 -4.26492408e-03 2.50560042e+01] [ 9.59651027e-02 9.95384609e-01 -4.23468514e-04 1.00410649e+00] [ 4.28587838e-03 1.22262955e-05 9.99990816e-01 -8.70424518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.08, Y:1.01, Z:-0.09 [[ 9.95153060e-01 -9.82456011e-02 -4.26488809e-03 2.50832045e+01] [ 9.82446869e-02 9.95162199e-01 -4.23830656e-04 1.00877517e+00] [ 4.28589490e-03 2.77377903e-06 9.99990816e-01 -8.61943864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:25.11, Y:1.01, Z:-0.09 [[ 9.94929127e-01 -1.00488029e-01 -4.26480678e-03 2.51095722e+01] [ 1.00487132e-01 9.94938267e-01 -4.24647259e-04 1.01291575e+00] [ 4.28589143e-03 -6.06427496e-06 9.99990816e-01 -8.82682324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:1.02, Z:-0.09 [[ 9.94420585e-01 -1.05401665e-01 -4.26477137e-03 2.51373160e+01] [ 1.05400811e-01 9.94429730e-01 -4.25002601e-04 1.01845524e+00] [ 4.28581142e-03 -2.68790277e-05 9.99990816e-01 -8.60612668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168623853000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.17, Y:1.02, Z:-0.09 [[ 9.94159008e-01 -1.07840990e-01 -4.26469428e-03 2.51652864e+01] [ 1.07840156e-01 9.94168155e-01 -4.25774709e-04 1.02295106e+00] [ 4.28573921e-03 -3.66175322e-05 9.99990816e-01 -8.60748163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.19, Y:1.03, Z:-0.09 [[ 9.93713802e-01 -1.11869091e-01 -4.26461466e-03 2.51925149e+01] [ 1.11868291e-01 9.93722951e-01 -4.26570764e-04 1.02814607e+00] [ 4.28556554e-03 -5.31858963e-05 9.99990816e-01 -8.71855580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228623853000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.22, Y:1.03, Z:-0.09 [[ 9.93551451e-01 -1.13301936e-01 -4.26453461e-03 2.52203894e+01] [ 1.13301145e-01 9.93560601e-01 -4.27369520e-04 1.03188638e+00] [ 4.28549536e-03 -5.85630473e-05 9.99990816e-01 -8.68375671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258623853000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.25, Y:1.04, Z:-0.09 [[ 9.93433029e-01 -1.14335612e-01 -4.26445074e-03 2.52478613e+01] [ 1.14334827e-01 9.93442180e-01 -4.28204725e-04 1.03527648e+00] [ 4.28544429e-03 -6.21825202e-05 9.99990816e-01 -8.80953492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.28, Y:1.04, Z:-0.09 [[ 9.93411344e-01 -1.14523870e-01 -4.26442461e-03 2.52761888e+01] [ 1.14523086e-01 9.93420495e-01 -4.28464809e-04 1.03830965e+00] [ 4.28543625e-03 -6.27332639e-05 9.99990816e-01 -8.79732574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318623853000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:25.30, Y:1.04, Z:-0.09 [[ 9.93279105e-01 -1.15665182e-01 -4.26434326e-03 2.53038297e+01] [ 1.15664405e-01 9.93288257e-01 -4.29272925e-04 1.04130020e+00] [ 4.28537402e-03 -6.68448994e-05 9.99990816e-01 -9.03180799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348623853000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.33, Y:1.04, Z:-0.09 [[ 9.93234535e-01 -1.16047290e-01 -4.26431800e-03 2.53317351e+01] [ 1.16046515e-01 9.93243687e-01 -4.29523742e-04 1.04427368e+00] [ 4.28535200e-03 -6.82414295e-05 9.99990816e-01 -9.03422621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.36, Y:1.05, Z:-0.09 [[ 9.93206640e-01 -1.16285795e-01 -4.26423688e-03 2.53598941e+01] [ 1.16285019e-01 9.93215792e-01 -4.30327607e-04 1.04754343e+00] [ 4.28534839e-03 -6.84626279e-05 9.99990816e-01 -9.07768158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:25.39, Y:1.05, Z:-0.09 [[ 9.93188049e-01 -1.16444480e-01 -4.26415542e-03 2.53862455e+01] [ 1.16443702e-01 9.93197200e-01 -4.31133233e-04 1.05050653e+00] [ 4.28535031e-03 -6.83376690e-05 9.99990816e-01 -9.09106893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438623853000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:25.42, Y:1.05, Z:-0.09 [[ 9.93204147e-01 -1.16307092e-01 -4.26409984e-03 2.54152515e+01] [ 1.16306311e-01 9.93213298e-01 -4.31682218e-04 1.05356805e+00] [ 4.28536837e-03 -6.71931517e-05 9.99990816e-01 -8.82295881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:25.44, Y:1.06, Z:-0.09 [[ 9.93235542e-01 -1.16038682e-01 -4.26402685e-03 2.54430376e+01] [ 1.16037895e-01 9.93244693e-01 -4.32402022e-04 1.05568469e+00] [ 4.28539740e-03 -6.53116418e-05 9.99990816e-01 -8.65853043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:25.47, Y:1.06, Z:-0.08 [[ 9.93330178e-01 -1.15225766e-01 -4.26394110e-03 2.54712533e+01] [ 1.15224967e-01 9.93339327e-01 -4.33245954e-04 1.05704359e+00] [ 4.28546148e-03 -6.09561935e-05 9.99990816e-01 -8.00709617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528623853000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.50, Y:1.06, Z:-0.08 [[ 9.93351802e-01 -1.15039195e-01 -4.26391438e-03 2.54990988e+01] [ 1.15038394e-01 9.93360952e-01 -4.33508795e-04 1.06002617e+00] [ 4.28547655e-03 -5.98871194e-05 9.99990816e-01 -8.37415264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:25.53, Y:1.06, Z:-0.08 [[ 9.93408202e-01 -1.14551144e-01 -4.26383179e-03 2.55260022e+01] [ 1.14550335e-01 9.93417350e-01 -4.34319614e-04 1.06254742e+00] [ 4.28551629e-03 -5.69666931e-05 9.99990816e-01 -8.11154522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.55, Y:1.07, Z:-0.08 [[ 9.93445934e-01 -1.14223452e-01 -4.26377539e-03 2.55538785e+01] [ 1.14222637e-01 9.93455082e-01 -4.34872603e-04 1.06508983e+00] [ 4.28554198e-03 -5.49972509e-05 9.99990816e-01 -8.38025956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:1.07, Z:-0.08 [[ 9.93614354e-01 -1.12748996e-01 -4.26369117e-03 2.55820124e+01] [ 1.12748164e-01 9.93623501e-01 -4.35696728e-04 1.06647017e+00] [ 4.28562812e-03 -4.78088279e-05 9.99990816e-01 -8.31397400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.61, Y:1.07, Z:-0.08 [[ 9.93737194e-01 -1.11661139e-01 -4.26360577e-03 2.56092835e+01] [ 1.11660294e-01 9.93746340e-01 -4.36530845e-04 1.06841497e+00] [ 4.28568616e-03 -4.22785367e-05 9.99990816e-01 -8.38095016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:25.64, Y:1.07, Z:-0.09 [[ 9.93885383e-01 -1.10334344e-01 -4.26356870e-03 2.56365034e+01] [ 1.10333485e-01 9.93894527e-01 -4.36892564e-04 1.07059555e+00] [ 4.28574186e-03 -3.61932592e-05 9.99990816e-01 -8.56964449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708623853000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.66, Y:1.07, Z:-0.08 [[ 9.94276384e-01 -1.06753427e-01 -4.26351145e-03 2.56640103e+01] [ 1.06752533e-01 9.94285525e-01 -4.37450545e-04 1.07233615e+00] [ 4.28584707e-03 -2.01939015e-05 9.99990816e-01 -8.47914331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:25.69, Y:1.08, Z:-0.08 [[ 9.94457474e-01 -1.05053107e-01 -4.26342854e-03 2.56919342e+01] [ 1.05052194e-01 9.94466613e-01 -4.38257162e-04 1.07548307e+00] [ 4.28587762e-03 -1.20544117e-05 9.99990816e-01 -8.44340091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.72, Y:1.08, Z:-0.08 [[ 9.94613114e-01 -1.03569187e-01 -4.26334542e-03 2.57199245e+01] [ 1.03568256e-01 9.94622252e-01 -4.39064225e-04 1.07868449e+00] [ 4.28589175e-03 -4.84821484e-06 9.99990816e-01 -8.33222295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:1.08, Z:-0.08 [[ 9.94965544e-01 -1.00126876e-01 -4.26326186e-03 2.57464999e+01] [ 1.00125911e-01 9.94974677e-01 -4.39874065e-04 1.08058402e+00] [ 4.28588081e-03 1.07965623e-05 9.99990816e-01 -8.42958862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.77, Y:1.08, Z:-0.08 [[ 9.95087679e-01 -9.89056957e-02 -4.26320484e-03 2.57739846e+01] [ 9.89047164e-02 9.95096811e-01 -4.40426077e-04 1.08321940e+00] [ 4.28586219e-03 1.66114970e-05 9.99990816e-01 -8.48504466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:1.09, Z:-0.09 [[ 9.95204533e-01 -9.77228896e-02 -4.26312199e-03 2.58019928e+01] [ 9.77218961e-02 9.95213664e-01 -4.41226585e-04 1.08593909e+00] [ 4.28583519e-03 2.25103339e-05 9.99990816e-01 -8.53495839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.83, Y:1.09, Z:-0.08 [[ 9.95368240e-01 -9.60410975e-02 -4.26303917e-03 2.58301799e+01] [ 9.60400852e-02 9.95377369e-01 -4.42025324e-04 1.08932052e+00] [ 4.28578531e-03 3.05553238e-05 9.99990816e-01 -8.35960319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.86, Y:1.09, Z:-0.08 [[ 9.95437589e-01 -9.53196435e-02 -4.26295282e-03 2.58569455e+01] [ 9.53186210e-02 9.95446716e-01 -4.42856491e-04 1.09236515e+00] [ 4.28575531e-03 3.44972139e-05 9.99990816e-01 -8.45425517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:1.10, Z:-0.08 [[ 9.95465413e-01 -9.50286222e-02 -4.26291529e-03 2.58844576e+01] [ 9.50275955e-02 9.95474540e-01 -4.43217462e-04 1.09530122e+00] [ 4.28574198e-03 3.61130637e-05 9.99990816e-01 -8.48237545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.91, Y:1.10, Z:-0.08 [[ 9.95516716e-01 -9.44896626e-02 -4.26283189e-03 2.59123846e+01] [ 9.44886275e-02 9.95525842e-01 -4.44018179e-04 1.09839375e+00] [ 4.28571443e-03 3.92383848e-05 9.99990816e-01 -8.46377090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.94, Y:1.10, Z:-0.08 [[ 9.95531711e-01 -9.43315493e-02 -4.26274606e-03 2.59391553e+01] [ 9.43305092e-02 9.95540837e-01 -4.44840603e-04 1.10143734e+00] [ 4.28570028e-03 4.07459202e-05 9.99990816e-01 -8.49242302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.97, Y:1.11, Z:-0.08 [[ 9.95525115e-01 -9.44011355e-02 -4.26270870e-03 2.59673504e+01] [ 9.44000945e-02 9.95534240e-01 -4.45198376e-04 1.10514329e+00] [ 4.28569970e-03 4.08060605e-05 9.99990816e-01 -8.40092912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.99, Y:1.11, Z:-0.08 [[ 9.95505702e-01 -9.46056377e-02 -4.26262326e-03 2.59939409e+01] [ 9.46045952e-02 9.95514827e-01 -4.46014897e-04 1.10915573e+00] [ 4.28570018e-03 4.07466250e-05 9.99990816e-01 -8.36797336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.02, Y:1.11, Z:-0.08 [[ 9.95435956e-01 -9.53367134e-02 -4.26256520e-03 2.60212432e+01] [ 9.53356752e-02 9.95445081e-01 -4.46569092e-04 1.11370572e+00] [ 4.28572399e-03 3.81563993e-05 9.99990816e-01 -8.36757942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.05, Y:1.12, Z:-0.08 [[ 9.95365028e-01 -9.60744135e-02 -4.26248579e-03 2.60488705e+01] [ 9.60733787e-02 9.95374154e-01 -4.47325773e-04 1.11742700e+00] [ 4.28574475e-03 3.57410187e-05 9.99990816e-01 -8.28149162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.158623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.08, Y:1.12, Z:-0.08 [[ 9.95287558e-01 -9.68736783e-02 -4.26239880e-03 2.60753818e+01] [ 9.68726473e-02 9.95296684e-01 -4.48153123e-04 1.12081841e+00] [ 4.28576564e-03 3.31313713e-05 9.99990816e-01 -8.16992265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.188623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.10, Y:1.13, Z:-0.08 [[ 9.95086760e-01 -9.89149775e-02 -4.26236113e-03 2.61027461e+01] [ 9.89139637e-02 9.95095888e-01 -4.48511093e-04 1.12522455e+00] [ 4.28582250e-03 2.47004158e-05 9.99990816e-01 -8.01682139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.13, Y:1.13, Z:-0.08 [[ 9.94969308e-01 -1.00089501e-01 -4.26233451e-03 2.61306778e+01] [ 1.00088497e-01 9.94978438e-01 -4.48763996e-04 1.12910643e+00] [ 4.28584749e-03 1.98957472e-05 9.99990816e-01 -7.90189220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.16, Y:1.13, Z:-0.08 [[ 9.94832140e-01 -1.01443807e-01 -4.26225001e-03 2.61585466e+01] [ 1.01442812e-01 9.94841271e-01 -4.49565059e-04 1.13336435e+00] [ 4.28586781e-03 1.48671415e-05 9.99990816e-01 -7.68483241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.19, Y:1.14, Z:-0.08 [[ 9.94722407e-01 -1.02514224e-01 -4.26216179e-03 2.61865788e+01] [ 1.02513236e-01 9.94731538e-01 -4.50399959e-04 1.13727961e+00] [ 4.28587915e-03 1.10949359e-05 9.99990816e-01 -7.67662984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.21, Y:1.14, Z:-0.08 [[ 9.94511144e-01 -1.04543861e-01 -4.26213437e-03 2.62147748e+01] [ 1.04542889e-01 9.94520277e-01 -4.50659270e-04 1.14145208e+00] [ 4.28589271e-03 2.60982516e-06 9.99990816e-01 -7.64343285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:1.15, Z:-0.08 [[ 9.94383871e-01 -1.05747591e-01 -4.26204984e-03 2.62421530e+01] [ 1.05746627e-01 9.94393004e-01 -4.51457299e-04 1.14511501e+00] [ 4.28589306e-03 -1.77553732e-06 9.99990816e-01 -7.65350204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.27, Y:1.15, Z:-0.08 [[ 9.94255127e-01 -1.06951284e-01 -4.26196296e-03 2.62694449e+01] [ 1.06950328e-01 9.94264262e-01 -4.52275940e-04 1.14936188e+00] [ 4.28588895e-03 -6.14066465e-06 9.99990816e-01 -7.69677288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.30, Y:1.15, Z:-0.08 [[ 9.94035670e-01 -1.08972125e-01 -4.26187503e-03 2.62963641e+01] [ 1.08971184e-01 9.94044806e-01 -4.53103048e-04 1.15457288e+00] [ 4.28587034e-03 -1.40209769e-05 9.99990816e-01 -7.78709833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:1.16, Z:-0.08 [[ 9.93902306e-01 -1.10181860e-01 -4.26183684e-03 2.63243151e+01] [ 1.10180928e-01 9.93911443e-01 -4.53461961e-04 1.15845916e+00] [ 4.28585169e-03 -1.88762507e-05 9.99990816e-01 -7.77500048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.35, Y:1.16, Z:-0.08 [[ 9.93811248e-01 -1.11000182e-01 -4.26175066e-03 2.63515144e+01] [ 1.10999255e-01 9.93820386e-01 -4.54270451e-04 1.16206606e+00] [ 4.28583879e-03 -2.15920620e-05 9.99990816e-01 -7.77672837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:1.17, Z:-0.08 [[ 9.93510928e-01 -1.13656822e-01 -4.26171310e-03 2.63787204e+01] [ 1.13655917e-01 9.93520068e-01 -4.54622558e-04 1.16676118e+00] [ 4.28576845e-03 -3.26964331e-05 9.99990816e-01 -7.97593159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:1.17, Z:-0.08 [[ 9.93339073e-01 -1.15149137e-01 -4.26162810e-03 2.64069101e+01] [ 1.15148243e-01 9.93348214e-01 -4.55417924e-04 1.17005091e+00] [ 4.28572165e-03 -3.83345692e-05 9.99990816e-01 -8.08358463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:1.17, Z:-0.08 [[ 9.93182173e-01 -1.16494677e-01 -4.26154279e-03 2.64340485e+01] [ 1.16493792e-01 9.93191315e-01 -4.56214826e-04 1.17305813e+00] [ 4.28567389e-03 -4.33388478e-05 9.99990816e-01 -8.15380291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:1.18, Z:-0.08 [[ 9.92902641e-01 -1.18853628e-01 -4.26150553e-03 2.64605636e+01] [ 1.18852763e-01 9.92911785e-01 -4.56562621e-04 1.17744575e+00] [ 4.28556319e-03 -5.31694762e-05 9.99990816e-01 -8.31953068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:1.18, Z:-0.08 [[ 9.92771261e-01 -1.19946084e-01 -4.26146865e-03 2.64874649e+01] [ 1.19945228e-01 9.92780405e-01 -4.56906641e-04 1.18072544e+00] [ 4.28550673e-03 -5.75390456e-05 9.99990816e-01 -8.26591484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.52, Y:1.18, Z:-0.08 [[ 9.92609552e-01 -1.21277030e-01 -4.26143187e-03 2.65156831e+01] [ 1.21276184e-01 9.92618697e-01 -4.57249429e-04 1.18425820e+00] [ 4.28543080e-03 -6.29400453e-05 9.99990816e-01 -8.05985132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:1.19, Z:-0.08 [[ 9.92385737e-01 -1.23095043e-01 -4.26134272e-03 2.65432248e+01] [ 1.23094210e-01 9.92394884e-01 -4.58078738e-04 1.18732091e+00] [ 4.28532193e-03 -6.99558105e-05 9.99990816e-01 -8.02287350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:1.19, Z:-0.08 [[ 9.92284863e-01 -1.23905576e-01 -4.26131516e-03 2.65701021e+01] [ 1.23904750e-01 9.92294010e-01 -4.58334977e-04 1.19056609e+00] [ 4.28526777e-03 -7.31983314e-05 9.99990816e-01 -7.94818649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:1.19, Z:-0.08 [[ 9.92193798e-01 -1.24632698e-01 -4.26125852e-03 2.65979103e+01] [ 1.24631876e-01 9.92202945e-01 -4.58860935e-04 1.19376796e+00] [ 4.28522233e-03 -7.58096694e-05 9.99990816e-01 -7.89991597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.62, Y:1.20, Z:-0.08 [[ 9.92081621e-01 -1.25522507e-01 -4.26117336e-03 2.66244091e+01] [ 1.25521690e-01 9.92090769e-01 -4.59650459e-04 1.19605617e+00] [ 4.28516723e-03 -7.88589100e-05 9.99990816e-01 -7.64235846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.65, Y:1.20, Z:-0.08 [[ 9.92013550e-01 -1.26059349e-01 -4.26111520e-03 2.66525956e+01] [ 1.26058534e-01 9.92022698e-01 -4.60188991e-04 1.19969046e+00] [ 4.28513412e-03 -8.06362215e-05 9.99990816e-01 -7.91501947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.68, Y:1.20, Z:-0.08 [[ 9.91946658e-01 -1.26584643e-01 -4.26103255e-03 2.66799745e+01] [ 1.26583830e-01 9.91955806e-01 -4.60952930e-04 1.20265336e+00] [ 4.28510554e-03 -8.21371036e-05 9.99990816e-01 -7.79752206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:1.21, Z:-0.08 [[ 9.91930084e-01 -1.26714451e-01 -4.26094538e-03 2.67081979e+01] [ 1.26713636e-01 9.91939233e-01 -4.61757357e-04 1.20509645e+00] [ 4.28511022e-03 -8.18888684e-05 9.99990816e-01 -7.80091876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.74, Y:1.21, Z:-0.08 [[ 9.91874095e-01 -1.27151976e-01 -4.26085838e-03 2.67355132e+01] [ 1.27151162e-01 9.91883243e-01 -4.62558746e-04 1.20686610e+00] [ 4.28508929e-03 -8.29730552e-05 9.99990816e-01 -7.81789149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:1.21, Z:-0.08 [[ 9.91807414e-01 -1.27671058e-01 -4.26082052e-03 2.67635706e+01] [ 1.27670247e-01 9.91816563e-01 -4.62907202e-04 1.20964581e+00] [ 4.28505222e-03 -8.48652126e-05 9.99990816e-01 -7.86965221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:1.21, Z:-0.08 [[ 9.91776866e-01 -1.27908146e-01 -4.26073457e-03 2.67901832e+01] [ 1.27907334e-01 9.91786015e-01 -4.63697029e-04 1.21167641e+00] [ 4.28504758e-03 -8.50952119e-05 9.99990816e-01 -8.09430151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:1.21, Z:-0.08 [[ 9.91676346e-01 -1.28685160e-01 -4.26069720e-03 2.68176496e+01] [ 1.28684353e-01 9.91685495e-01 -4.64040131e-04 1.21222005e+00] [ 4.28498669e-03 -8.81074422e-05 9.99990816e-01 -8.36674515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.85, Y:1.21, Z:-0.08 [[ 9.91616513e-01 -1.29145410e-01 -4.26067186e-03 2.68451420e+01] [ 1.29144607e-01 9.91625663e-01 -4.64272679e-04 1.21421695e+00] [ 4.28495024e-03 -8.98623374e-05 9.99990816e-01 -8.32027902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:1.21, Z:-0.08 [[ 9.91646781e-01 -1.28912794e-01 -4.26058566e-03 2.68729710e+01] [ 1.28911985e-01 9.91655930e-01 -4.65062351e-04 1.21471093e+00] [ 4.28498752e-03 -8.80629729e-05 9.99990816e-01 -8.21706945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:26.90, Y:1.22, Z:-0.08 [[ 9.91697796e-01 -1.28519760e-01 -4.26049536e-03 2.69005556e+01] [ 1.28518944e-01 9.91706945e-01 -4.65888145e-04 1.21715186e+00] [ 4.28503867e-03 -8.55341188e-05 9.99990816e-01 -7.56883633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:1.22, Z:-0.08 [[ 9.91793824e-01 -1.27776598e-01 -4.26040468e-03 2.69286479e+01] [ 1.27775771e-01 9.91802972e-01 -4.66715875e-04 1.21962013e+00] [ 4.28511739e-03 -8.14905722e-05 9.99990816e-01 -8.13075735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:1.22, Z:-0.08 [[ 9.91893561e-01 -1.27000050e-01 -4.26037658e-03 2.69564709e+01] [ 1.26999215e-01 9.91902708e-01 -4.66972292e-04 1.22216274e+00] [ 4.28518457e-03 -7.78776728e-05 9.99990816e-01 -7.88051704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:1.22, Z:-0.08 [[ 9.92168350e-01 -1.24835153e-01 -4.26028571e-03 2.69848555e+01] [ 1.24834295e-01 9.92177494e-01 -4.67799858e-04 1.22276387e+00] [ 4.28535747e-03 -6.76935503e-05 9.99990816e-01 -7.88627297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.01, Y:1.22, Z:-0.08 [[ 9.92254210e-01 -1.24150848e-01 -4.26025748e-03 2.70125388e+01] [ 1.24149983e-01 9.92263354e-01 -4.68056814e-04 1.22466751e+00] [ 4.28540702e-03 -6.44795474e-05 9.99990816e-01 -7.87033838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.04, Y:1.23, Z:-0.08 [[ 9.92231724e-01 -1.24330435e-01 -4.26017261e-03 2.70408364e+01] [ 1.24329568e-01 9.92240867e-01 -4.68827982e-04 1.22798293e+00] [ 4.28540695e-03 -6.44794233e-05 9.99990816e-01 -7.85813094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.07, Y:1.23, Z:-0.08 [[ 9.92380616e-01 -1.23136363e-01 -4.26008762e-03 2.70688773e+01] [ 1.23135482e-01 9.92389758e-01 -4.69599012e-04 1.22846829e+00] [ 4.28549204e-03 -5.85469848e-05 9.99990816e-01 -7.80095185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.10, Y:1.23, Z:-0.08 [[ 9.92416345e-01 -1.22848076e-01 -4.25999533e-03 2.70957774e+01] [ 1.22847189e-01 9.92425487e-01 -4.70434764e-04 1.23005835e+00] [ 4.28551994e-03 -5.64612997e-05 9.99990816e-01 -7.93657941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:1.23, Z:-0.08 [[ 9.92444050e-01 -1.22624058e-01 -4.25995516e-03 2.71232241e+01] [ 1.22623167e-01 9.92453192e-01 -4.70798195e-04 1.23096236e+00] [ 4.28553728e-03 -5.51283242e-05 9.99990816e-01 -7.96228638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.15, Y:1.23, Z:-0.08 [[ 9.92521895e-01 -1.21992384e-01 -4.25989433e-03 2.71516498e+01] [ 1.21991484e-01 9.92531035e-01 -4.71347981e-04 1.23026943e+00] [ 4.28557819e-03 -5.18476391e-05 9.99990816e-01 -8.00504120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:1.23, Z:-0.08 [[ 9.92594441e-01 -1.21400703e-01 -4.25980488e-03 2.71788497e+01] [ 1.21399794e-01 9.92603580e-01 -4.72154969e-04 1.23201248e+00] [ 4.28561752e-03 -4.84810387e-05 9.99990816e-01 -8.11962495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:1.23, Z:-0.08 [[ 9.92672668e-01 -1.20759386e-01 -4.25976597e-03 2.72071007e+01] [ 1.20758470e-01 9.92681806e-01 -4.72505747e-04 1.23430435e+00] [ 4.28565168e-03 -4.53592814e-05 9.99990816e-01 -8.12137090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.23, Y:1.23, Z:-0.08 [[ 9.92959557e-01 -1.18377249e-01 -4.25967493e-03 2.72346483e+01] [ 1.18376307e-01 9.92968693e-01 -4.73325114e-04 1.23458538e+00] [ 4.28575477e-03 -3.42518925e-05 9.99990816e-01 -8.20896503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:1.24, Z:-0.08 [[ 9.93153454e-01 -1.16739336e-01 -4.25963522e-03 2.72615516e+01] [ 1.16738378e-01 9.93162588e-01 -4.73682200e-04 1.23658668e+00] [ 4.28580768e-03 -2.68237944e-05 9.99990816e-01 -8.17200657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.478623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:27.29, Y:1.24, Z:-0.08 [[ 9.93286283e-01 -1.15603705e-01 -4.25959675e-03 2.72891301e+01] [ 1.15602736e-01 9.93295416e-01 -4.74027897e-04 1.23905797e+00] [ 4.28583730e-03 -2.15756287e-05 9.99990816e-01 -7.50729894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:1.24, Z:-0.08 [[ 9.93636260e-01 -1.12555942e-01 -4.25950592e-03 2.73178209e+01] [ 1.12554941e-01 9.93645389e-01 -4.74842604e-04 1.24269701e+00] [ 4.28588478e-03 -7.60760759e-06 9.99990816e-01 -7.77245172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.538623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:1.25, Z:-0.08 [[ 9.93785509e-01 -1.11230477e-01 -4.25942687e-03 2.73457799e+01] [ 1.11229461e-01 9.93794637e-01 -4.75550652e-04 1.24547860e+00] [ 4.28589131e-03 -1.17840670e-06 9.99990816e-01 -7.74316180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:1.25, Z:-0.08 [[ 9.93913911e-01 -1.10077221e-01 -4.25939879e-03 2.73738595e+01] [ 1.10076193e-01 9.93923038e-01 -4.75802013e-04 1.24764429e+00] [ 4.28588955e-03 4.04783507e-06 9.99990816e-01 -7.74374959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:1.25, Z:-0.08 [[ 9.94066844e-01 -1.08687479e-01 -4.25930966e-03 2.74020074e+01] [ 1.08686434e-01 9.94075969e-01 -4.76598627e-04 1.25030531e+00] [ 4.28587768e-03 1.08417144e-05 9.99990816e-01 -7.76423669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.43, Y:1.25, Z:-0.08 [[ 9.94469483e-01 -1.04939540e-01 -4.25922051e-03 2.74291921e+01] [ 1.04938458e-01 9.94478603e-01 -4.77393993e-04 1.25410319e+00] [ 4.28580117e-03 2.77977258e-05 9.99990816e-01 -7.70483958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.46, Y:1.26, Z:-0.08 [[ 9.94685854e-01 -1.02868421e-01 -4.25918195e-03 2.74558897e+01] [ 1.02867318e-01 9.94694972e-01 -4.77737713e-04 1.25755194e+00] [ 4.28573100e-03 3.70683198e-05 9.99990816e-01 -7.69963650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:1.26, Z:-0.08 [[ 9.94870415e-01 -1.01067888e-01 -4.25914366e-03 2.74838234e+01] [ 1.01066768e-01 9.94879530e-01 -4.78078841e-04 1.26116899e+00] [ 4.28565327e-03 4.51686118e-05 9.99990816e-01 -7.64533329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.718623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.51, Y:1.27, Z:-0.08 [[ 9.95052204e-01 -9.92621408e-02 -4.25905593e-03 2.75118814e+01] [ 9.92610003e-02 9.95061317e-01 -4.78859125e-04 1.26506270e+00] [ 4.28555439e-03 5.37316754e-05 9.99990816e-01 -7.64756696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.54, Y:1.27, Z:-0.08 [[ 9.95304397e-01 -9.67006626e-02 -4.25896803e-03 2.75396380e+01] [ 9.66994953e-02 9.95313507e-01 -4.79639643e-04 1.27088534e+00] [ 4.28538988e-03 6.55473870e-05 9.99990816e-01 -7.55630476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.57, Y:1.28, Z:-0.08 [[ 9.95367003e-01 -9.60541023e-02 -4.25887674e-03 2.75669302e+01] [ 9.60529256e-02 9.95376112e-01 -4.80448921e-04 1.27540216e+00] [ 4.28533326e-03 6.91454319e-05 9.99990816e-01 -7.53572827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.59, Y:1.28, Z:-0.07 [[ 9.95284146e-01 -9.69088804e-02 -4.25884847e-03 2.75942879e+01] [ 9.69077104e-02 9.95293256e-01 -4.80699330e-04 1.28066195e+00] [ 4.28538720e-03 6.57171672e-05 9.99990816e-01 -7.18492179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:1.28, Z:-0.07 [[ 9.95174167e-01 -9.80318353e-02 -4.25875553e-03 2.76206370e+01] [ 9.80306722e-02 9.95183277e-01 -4.81521401e-04 1.28441594e+00] [ 4.28544671e-03 6.17089923e-05 9.99990816e-01 -7.10162417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:1.29, Z:-0.07 [[ 9.95023224e-01 -9.95522328e-02 -4.25871509e-03 2.76479110e+01] [ 9.95510820e-02 9.95032336e-01 -4.81878737e-04 1.28839167e+00] [ 4.28553133e-03 5.55208395e-05 9.99990816e-01 -7.03740564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:1.29, Z:-0.07 [[ 9.94649770e-01 -1.03216754e-01 -4.25862496e-03 2.76754636e+01] [ 1.03215634e-01 9.94658886e-01 -4.82673992e-04 1.29256228e+00] [ 4.28569920e-03 4.05349019e-05 9.99990816e-01 -7.08206625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.70, Y:1.30, Z:-0.07 [[ 9.94438384e-01 -1.05233859e-01 -4.25853337e-03 2.77028646e+01] [ 1.05232754e-01 9.94447502e-01 -4.83480739e-04 1.29662066e+00] [ 4.28576641e-03 3.26546131e-05 9.99990816e-01 -7.21867623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.73, Y:1.30, Z:-0.07 [[ 9.94240653e-01 -1.07085902e-01 -4.25844152e-03 2.77292722e+01] [ 1.07084810e-01 9.94249772e-01 -4.84288334e-04 1.30047311e+00] [ 4.28581497e-03 2.54847460e-05 9.99990816e-01 -7.29467723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:1.31, Z:-0.07 [[ 9.93774082e-01 -1.11332561e-01 -4.25840155e-03 2.77556901e+01] [ 1.11331506e-01 9.93783206e-01 -4.84639533e-04 1.30574171e+00] [ 4.28588411e-03 7.52794873e-06 9.99990816e-01 -7.46232012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.78, Y:1.31, Z:-0.08 [[ 9.93488555e-01 -1.13852346e-01 -4.25836204e-03 2.77831068e+01] [ 1.13851313e-01 9.93497682e-01 -4.84986454e-04 1.30963063e+00] [ 4.28588966e-03 -2.99161724e-06 9.99990816e-01 -7.53080318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:1.31, Z:-0.08 [[ 9.93180234e-01 -1.16511328e-01 -4.25827112e-03 2.78109085e+01] [ 1.16510317e-01 9.93189363e-01 -4.85783455e-04 1.31319492e+00] [ 4.28586886e-03 -1.36619908e-05 9.99990816e-01 -7.56590222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:1.32, Z:-0.07 [[ 9.92537574e-01 -1.21864812e-01 -4.25818023e-03 2.78384476e+01] [ 1.21863846e-01 9.92546707e-01 -4.86578887e-04 1.31605975e+00] [ 4.28573961e-03 -3.59703900e-05 9.99990816e-01 -7.37692913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:1.32, Z:-0.07 [[ 9.92200302e-01 -1.24581011e-01 -4.25815193e-03 2.78659268e+01] [ 1.24580069e-01 9.92209438e-01 -4.86826381e-04 1.31947292e+00] [ 4.28562786e-03 -4.74515773e-05 9.99990816e-01 -7.30495395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.89, Y:1.32, Z:-0.07 [[ 9.91861584e-01 -1.27249621e-01 -4.25806180e-03 2.78935437e+01] [ 1.27248700e-01 9.91870723e-01 -4.87613495e-04 1.32320140e+00] [ 4.28549546e-03 -5.81877363e-05 9.99990816e-01 -7.26577513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.92, Y:1.33, Z:-0.07 [[ 9.91563612e-01 -1.29551042e-01 -4.25797195e-03 2.79214375e+01] [ 1.29550139e-01 9.91572752e-01 -4.88396755e-04 1.32708355e+00] [ 4.28536128e-03 -6.73444089e-05 9.99990816e-01 -7.22008328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:1.33, Z:-0.07 [[ 9.91147746e-01 -1.32695203e-01 -4.25788202e-03 2.79485514e+01] [ 1.32694326e-01 9.91156888e-01 -4.89179563e-04 1.33043629e+00] [ 4.28514087e-03 -8.01475619e-05 9.99990816e-01 -7.23286271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:1.33, Z:-0.07 [[ 9.90997551e-01 -1.33812278e-01 -4.25784302e-03 2.79762925e+01] [ 1.33811409e-01 9.91006694e-01 -4.89518785e-04 1.33370266e+00] [ 4.28505456e-03 -8.46360563e-05 9.99990816e-01 -7.24926974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:1.34, Z:-0.07 [[ 9.90964145e-01 -1.34059447e-01 -4.25775319e-03 2.80034388e+01] [ 1.34058577e-01 9.90973288e-01 -4.90298830e-04 1.33633642e+00] [ 4.28504887e-03 -8.49197738e-05 9.99990816e-01 -7.36983694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:1.34, Z:-0.07 [[ 9.91047764e-01 -1.33439881e-01 -4.25771407e-03 2.80311691e+01] [ 1.33439004e-01 9.91056906e-01 -4.90638338e-04 1.33839228e+00] [ 4.28510766e-03 -8.18990974e-05 9.99990816e-01 -7.48154398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.318623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:28.06, Y:1.34, Z:-0.08 [[ 9.91194131e-01 -1.32348284e-01 -4.25762129e-03 2.80577569e+01] [ 1.32347393e-01 9.91203272e-01 -4.91442137e-04 1.34154925e+00] [ 4.28520968e-03 -7.63705173e-05 9.99990816e-01 -7.57436275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.09, Y:1.35, Z:-0.08 [[ 9.91602479e-01 -1.29253230e-01 -4.25758088e-03 2.80856245e+01] [ 1.29252310e-01 9.91611617e-01 -4.91791986e-04 1.34629146e+00] [ 4.28543236e-03 -6.26400102e-05 9.99990816e-01 -7.56859205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.378623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:28.11, Y:1.35, Z:-0.08 [[ 9.91821413e-01 -1.27562375e-01 -4.25748656e-03 2.81121924e+01] [ 1.27561435e-01 9.91830549e-01 -4.92607188e-04 1.35024606e+00] [ 4.28554337e-03 -5.45127387e-05 9.99990816e-01 -7.53721154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.408623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:28.14, Y:1.35, Z:-0.07 [[ 9.92029218e-01 -1.25936113e-01 -4.25742217e-03 2.81395583e+01] [ 1.25935156e-01 9.92038353e-01 -4.93162995e-04 1.35421997e+00] [ 4.28563311e-03 -4.69270269e-05 9.99990816e-01 -7.48750960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.438623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:28.17, Y:1.36, Z:-0.07 [[ 9.92436465e-01 -1.22685528e-01 -4.25733010e-03 2.81676362e+01] [ 1.22684538e-01 9.92445596e-01 -4.93956592e-04 1.35799154e+00] [ 4.28576983e-03 -3.20880425e-05 9.99990816e-01 -7.40535363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468623853000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:28.19, Y:1.36, Z:-0.07 [[ 9.92558737e-01 -1.21692355e-01 -4.25723728e-03 2.81947488e+01] [ 1.21691352e-01 9.92567867e-01 -4.94755280e-04 1.36174903e+00] [ 4.28580486e-03 -2.69952865e-05 9.99990816e-01 -7.31815194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.498623853000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.22, Y:1.37, Z:-0.07 [[ 9.92684761e-01 -1.20660026e-01 -4.25714482e-03 2.82225596e+01] [ 1.20659010e-01 9.92693889e-01 -4.95549550e-04 1.36512237e+00] [ 4.28583467e-03 -2.17383932e-05 9.99990816e-01 -7.29312548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.25, Y:1.37, Z:-0.07 [[ 9.92802128e-01 -1.19690486e-01 -4.25704883e-03 2.82495233e+01] [ 1.19689458e-01 9.92811255e-01 -4.96372809e-04 1.36805252e+00] [ 4.28585709e-03 -1.67238860e-05 9.99990816e-01 -7.35608322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.558623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:28.28, Y:1.37, Z:-0.07 [[ 9.92893559e-01 -1.18929633e-01 -4.25700709e-03 2.82778095e+01] [ 1.18928597e-01 9.92902685e-01 -4.96730532e-04 1.37141130e+00] [ 4.28586975e-03 -1.30793328e-05 9.99990816e-01 -7.24596968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.31, Y:1.37, Z:-0.07 [[ 9.92885298e-01 -1.18998583e-01 -4.25691888e-03 2.83057764e+01] [ 1.18997544e-01 9.92894424e-01 -4.97485303e-04 1.37493497e+00] [ 4.28587107e-03 -1.26170488e-05 9.99990816e-01 -7.48027915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.618623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:28.33, Y:1.38, Z:-0.07 [[ 9.92815353e-01 -1.19580742e-01 -4.25682399e-03 2.83332830e+01] [ 1.19579704e-01 9.92824479e-01 -4.98295931e-04 1.37853017e+00] [ 4.28586566e-03 -1.43139029e-05 9.99990816e-01 -7.22974824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648623853000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.36, Y:1.38, Z:-0.08 [[ 9.92746126e-01 -1.20154109e-01 -4.25672899e-03 2.83606590e+01] [ 1.20153074e-01 9.92755252e-01 -4.99106136e-04 1.38159950e+00] [ 4.28585972e-03 -1.59733895e-05 9.99990816e-01 -7.69703459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.678623853000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.39, Y:1.39, Z:-0.08 [[ 9.92649900e-01 -1.20946508e-01 -4.25663338e-03 2.83876776e+01] [ 1.20945476e-01 9.92659026e-01 -4.99920293e-04 1.38522977e+00] [ 4.28584915e-03 -1.85747217e-05 9.99990816e-01 -7.72930964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:28.42, Y:1.39, Z:-0.08 [[ 9.92475092e-01 -1.22372681e-01 -4.25659182e-03 2.84153712e+01] [ 1.22371661e-01 9.92484220e-01 -5.00273866e-04 1.38671872e+00] [ 4.28582007e-03 -2.43768588e-05 9.99990816e-01 -7.57175330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.738623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:28.44, Y:1.39, Z:-0.07 [[ 9.92370687e-01 -1.23216481e-01 -4.25649808e-03 2.84428754e+01] [ 1.23215465e-01 9.92379815e-01 -5.01070143e-04 1.38884804e+00] [ 4.28580288e-03 -2.72190686e-05 9.99990816e-01 -7.38030598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:28.47, Y:1.39, Z:-0.07 [[ 9.92312141e-01 -1.23687100e-01 -4.25639799e-03 2.84707110e+01] [ 1.23686085e-01 9.92321269e-01 -5.01919000e-04 1.39132080e+00] [ 4.28579515e-03 -2.83968870e-05 9.99990816e-01 -7.31533242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.798623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.50, Y:1.39, Z:-0.07 [[ 9.92183822e-01 -1.24712254e-01 -4.25636700e-03 2.84975244e+01] [ 1.24711247e-01 9.92192951e-01 -5.02181623e-04 1.39412133e+00] [ 4.28576554e-03 -3.25603556e-05 9.99990816e-01 -7.28508338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:28.53, Y:1.40, Z:-0.07 [[ 9.92101065e-01 -1.25368898e-01 -4.25632643e-03 2.85255173e+01] [ 1.25367896e-01 9.92110195e-01 -5.02525206e-04 1.39721942e+00] [ 4.28574588e-03 -3.50508970e-05 9.99990816e-01 -7.34368106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.858623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:28.55, Y:1.40, Z:-0.07 [[ 9.91976160e-01 -1.26353401e-01 -4.25623413e-03 2.85528387e+01] [ 1.26352405e-01 9.91985290e-01 -5.03305781e-04 1.40034717e+00] [ 4.28571605e-03 -3.85180822e-05 9.99990816e-01 -7.32793848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:28.58, Y:1.40, Z:-0.07 [[ 9.91837453e-01 -1.27437642e-01 -4.25614050e-03 2.85792999e+01] [ 1.27436652e-01 9.91846584e-01 -5.04096342e-04 1.40289075e+00] [ 4.28567926e-03 -4.24066633e-05 9.99990816e-01 -7.41963532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.918623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:28.61, Y:1.41, Z:-0.07 [[ 9.91717882e-01 -1.28364823e-01 -4.25609983e-03 2.86068148e+01] [ 1.28363840e-01 9.91727014e-01 -5.04439418e-04 1.40582367e+00] [ 4.28564146e-03 -4.60677258e-05 9.99990816e-01 -7.48221617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:28.63, Y:1.41, Z:-0.07 [[ 9.91485830e-01 -1.30145058e-01 -4.25600680e-03 2.86344953e+01] [ 1.30144088e-01 9.91494963e-01 -5.05223131e-04 1.40765005e+00] [ 4.28556160e-03 -5.29725479e-05 9.99990816e-01 -7.33003072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.978623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:28.66, Y:1.41, Z:-0.08 [[ 9.91372725e-01 -1.31003845e-01 -4.25597789e-03 2.86620482e+01] [ 1.31002882e-01 9.91381859e-01 -5.05466591e-04 1.41032238e+00] [ 4.28551733e-03 -5.64395773e-05 9.99990816e-01 -7.78216188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:28.69, Y:1.41, Z:-0.08 [[ 9.91270799e-01 -1.31772876e-01 -4.25588133e-03 2.86886667e+01] [ 1.31771917e-01 9.91279933e-01 -5.06278244e-04 1.41339135e+00] [ 4.28548350e-03 -5.89468006e-05 9.99990816e-01 -7.88443316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.038623853000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.72, Y:1.42, Z:-0.08 [[ 9.91245892e-01 -1.31960106e-01 -4.25583917e-03 2.87166321e+01] [ 1.31959147e-01 9.91255026e-01 -5.06632397e-04 1.41599088e+00] [ 4.28547724e-03 -5.93996240e-05 9.99990816e-01 -7.80124303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068623853000005 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:28.74, Y:1.42, Z:-0.08 [[ 9.91262105e-01 -1.31838265e-01 -4.25574100e-03 2.87440100e+01] [ 1.31837301e-01 9.91271239e-01 -5.07455745e-04 1.41886207e+00] [ 4.28549573e-03 -5.80437588e-05 9.99990816e-01 -7.66662446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.098623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:28.77, Y:1.42, Z:-0.08 [[ 9.91236377e-01 -1.32031569e-01 -4.25564193e-03 2.87722813e+01] [ 1.32030603e-01 9.91245510e-01 -5.08285204e-04 1.42242302e+00] [ 4.28549565e-03 -5.80441858e-05 9.99990816e-01 -7.65441699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.80, Y:1.43, Z:-0.08 [[ 9.91323248e-01 -1.31377729e-01 -4.25554265e-03 2.87998947e+01] [ 1.31376753e-01 9.91332381e-01 -5.09115069e-04 1.42506472e+00] [ 4.28554361e-03 -5.43817727e-05 9.99990816e-01 -7.57101304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.158623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:28.83, Y:1.43, Z:-0.07 [[ 9.91421292e-01 -1.30635803e-01 -4.25551182e-03 2.88280001e+01] [ 1.30634820e-01 9.91430423e-01 -5.09372615e-04 1.42768439e+00] [ 4.28558618e-03 -5.09151646e-05 9.99990816e-01 -7.40208397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.188623853 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:28.86, Y:1.43, Z:-0.07 [[ 9.91706741e-01 -1.28450888e-01 -4.25541279e-03 2.88564462e+01] [ 1.28449881e-01 9.91715870e-01 -5.10198609e-04 1.42957118e+00] [ 4.28569586e-03 -4.06398671e-05 9.99990816e-01 -7.28318249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.218623853000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:28.88, Y:1.43, Z:-0.07 [[ 9.91889291e-01 -1.27033565e-01 -4.25531231e-03 2.88831244e+01] [ 1.27032541e-01 9.91898418e-01 -5.11035297e-04 1.43250815e+00] [ 4.28575618e-03 -3.36726971e-05 9.99990816e-01 -7.34485669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248623853000005 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:28.91, Y:1.44, Z:-0.07 [[ 9.92044022e-01 -1.25819520e-01 -4.25526851e-03 2.89104591e+01] [ 1.25818484e-01 9.92053148e-01 -5.11399686e-04 1.43605150e+00] [ 4.28579659e-03 -2.80604320e-05 9.99990816e-01 -7.37206869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.278623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:28.94, Y:1.44, Z:-0.07 [[ 9.92428414e-01 -1.22750708e-01 -4.25516874e-03 2.89384766e+01] [ 1.22749640e-01 9.92437536e-01 -5.12228565e-04 1.44004549e+00] [ 4.28586560e-03 -1.39702480e-05 9.99990816e-01 -6.86910891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:28.97, Y:1.44, Z:-0.07 [[ 9.92647575e-01 -1.20965644e-01 -4.25506834e-03 2.89664416e+01] [ 1.20964556e-01 9.92656694e-01 -5.13061154e-04 1.44377996e+00] [ 4.28588485e-03 -5.42354324e-06 9.99990816e-01 -7.48351145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.338623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:28.99, Y:1.45, Z:-0.07 [[ 9.92850981e-01 -1.19284636e-01 -4.25503702e-03 2.89941652e+01] [ 1.19283531e-01 9.92860099e-01 -5.13320832e-04 1.44778034e+00] [ 4.28588776e-03 2.09525001e-06 9.99990816e-01 -7.36982711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.368623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:29.02, Y:1.45, Z:-0.07 [[ 9.93262062e-01 -1.15811796e-01 -4.25493830e-03 2.90218090e+01] [ 1.15810657e-01 9.93271175e-01 -5.14137786e-04 1.45421714e+00] [ 4.28585079e-03 1.79063591e-05 9.99990816e-01 -7.25670122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.398623853000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:29.05, Y:1.46, Z:-0.07 [[ 9.93448755e-01 -1.14199242e-01 -4.25483825e-03 2.90481991e+01] [ 1.14198084e-01 9.93457866e-01 -5.14964435e-04 1.45950947e+00] [ 4.28581108e-03 2.56964005e-05 9.99990816e-01 -7.30748418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428623853000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:29.08, Y:1.46, Z:-0.07 [[ 9.93630454e-01 -1.12607363e-01 -4.25477022e-03 2.90753226e+01] [ 1.12606188e-01 9.93639563e-01 -5.15525912e-04 1.46475455e+00] [ 4.28576004e-03 3.31287896e-05 9.99990816e-01 -7.22071905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.458623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.10, Y:1.47, Z:-0.07 [[ 9.93987871e-01 -1.09407540e-01 -4.25466789e-03 2.91014367e+01] [ 1.09406332e-01 9.93996976e-01 -5.16369098e-04 1.47269295e+00] [ 4.28562169e-03 4.77770142e-05 9.99990816e-01 -7.25119708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:29.13, Y:1.48, Z:-0.07 [[ 9.94130437e-01 -1.08104455e-01 -4.25462348e-03 2.91291560e+01] [ 1.08103233e-01 9.94139540e-01 -5.16734773e-04 1.47858112e+00] [ 4.28555075e-03 5.37632125e-05 9.99990816e-01 -7.15624920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.518623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:29.16, Y:1.49, Z:-0.07 [[ 9.94346088e-01 -1.06102571e-01 -4.25452163e-03 2.91557363e+01] [ 1.06101328e-01 9.94355188e-01 -5.17571948e-04 1.48741730e+00] [ 4.28542137e-03 6.32352470e-05 9.99990816e-01 -7.17139131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.548623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:29.18, Y:1.49, Z:-0.07 [[ 9.94356692e-01 -1.06003151e-01 -4.25447747e-03 2.91835442e+01] [ 1.06001905e-01 9.94365792e-01 -5.17934678e-04 1.49396350e+00] [ 4.28540957e-03 6.40290973e-05 9.99990816e-01 -7.25419462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.578623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:29.21, Y:1.50, Z:-0.07 [[ 9.94335299e-01 -1.06203641e-01 -4.25437646e-03 2.92097407e+01] [ 1.06202393e-01 9.94344398e-01 -5.18763120e-04 1.50020250e+00] [ 4.28540993e-03 6.39995198e-05 9.99990816e-01 -7.41819858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608623853000005 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:29.24, Y:1.51, Z:-0.07 [[ 9.94241718e-01 -1.07076175e-01 -4.25433245e-03 2.92374224e+01] [ 1.07074933e-01 9.94250818e-01 -5.19123721e-04 1.50626900e+00] [ 4.28545931e-03 6.06020958e-05 9.99990816e-01 -7.42213225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.638623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:29.26, Y:1.51, Z:-0.07 [[ 9.93935702e-01 -1.09880491e-01 -4.25423024e-03 2.92632197e+01] [ 1.09879271e-01 9.93944805e-01 -5.19960053e-04 1.51384498e+00] [ 4.28560351e-03 4.93551413e-05 9.99990816e-01 -7.45658534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:29.29, Y:1.52, Z:-0.07 [[ 9.93668894e-01 -1.12267674e-01 -4.25416044e-03 2.92908777e+01] [ 1.12266475e-01 9.93678000e-01 -5.20530481e-04 1.51989484e+00] [ 4.28570438e-03 3.96353520e-05 9.99990816e-01 -7.45570555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.698623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:29.32, Y:1.53, Z:-0.07 [[ 9.92959950e-01 -1.18374154e-01 -4.25405904e-03 2.93173418e+01] [ 1.18373007e-01 9.92969063e-01 -5.21357886e-04 1.52736629e+00] [ 4.28586431e-03 1.41217413e-05 9.99990816e-01 -7.46570155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.728623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:29.35, Y:1.53, Z:-0.07 [[ 9.92486747e-01 -1.22278209e-01 -4.25401508e-03 2.93451880e+01] [ 1.22277096e-01 9.92495864e-01 -5.21716344e-04 1.53234167e+00] [ 4.28588691e-03 -2.37205102e-06 9.99990816e-01 -7.38930063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.758623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:29.37, Y:1.54, Z:-0.07 [[ 9.91924418e-01 -1.26759039e-01 -4.25391653e-03 2.93726516e+01] [ 1.26757964e-01 9.91933539e-01 -5.22518588e-04 1.53692934e+00] [ 4.28583644e-03 -2.09188518e-05 9.99990816e-01 -7.36441650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788623853000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:29.40, Y:1.54, Z:-0.07 [[ 9.90658196e-01 -1.36302031e-01 -4.25381697e-03 2.93999719e+01] [ 1.36301040e-01 9.90667327e-01 -5.23327908e-04 1.54080242e+00] [ 4.28544814e-03 -6.13605973e-05 9.99990816e-01 -7.47939947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.818623853000005 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:29.43, Y:1.54, Z:-0.08 [[ 9.90020476e-01 -1.40859375e-01 -4.25371607e-03 2.94266291e+01] [ 1.40858422e-01 9.90029611e-01 -5.24146742e-04 1.54372248e+00] [ 4.28513585e-03 -8.02557278e-05 9.99990816e-01 -7.58882267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:29.45, Y:1.55, Z:-0.08 [[ 9.89363112e-01 -1.45404742e-01 -4.25367258e-03 2.94539684e+01] [ 1.45403830e-01 9.89372251e-01 -5.24499433e-04 1.54690563e+00] [ 4.28473032e-03 -9.95798935e-05 9.99990816e-01 -7.60824542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.878623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:29.48, Y:1.55, Z:-0.08 [[ 9.88267395e-01 -1.52674369e-01 -4.25357428e-03 2.94803970e+01] [ 1.52673521e-01 9.88276540e-01 -5.25295424e-04 1.54951950e+00] [ 4.28390682e-03 -1.30275820e-04 9.99990816e-01 -7.65844933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.908623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:29.51, Y:1.55, Z:-0.08 [[ 9.87798620e-01 -1.55678494e-01 -4.25353146e-03 2.95083831e+01] [ 1.55677672e-01 9.87807768e-01 -5.25641952e-04 1.55244467e+00] [ 4.28350256e-03 -1.42951481e-04 9.99990816e-01 -7.51455762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.938623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:29.54, Y:1.55, Z:-0.08 [[ 9.87228716e-01 -1.59252538e-01 -4.25342902e-03 2.95358897e+01] [ 1.59251746e-01 9.87237866e-01 -5.26469580e-04 1.55353795e+00] [ 4.28298780e-03 -1.57620110e-04 9.99990816e-01 -7.54704763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968623853000004 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:29.56, Y:1.56, Z:-0.07 [[ 9.86971123e-01 -1.60841261e-01 -4.25338451e-03 2.95637960e+01] [ 1.60840482e-01 9.86980274e-01 -5.26828874e-04 1.55633961e+00] [ 4.28274244e-03 -1.64151530e-04 9.99990816e-01 -7.43200068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.998623853000005 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:29.59, Y:1.56, Z:-0.07 [[ 9.86893830e-01 -1.61314842e-01 -4.25328332e-03 2.95909097e+01] [ 1.61314063e-01 9.86902981e-01 -5.27644626e-04 1.55850460e+00] [ 4.28269489e-03 -1.65385189e-04 9.99990816e-01 -7.40988993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:29.62, Y:1.56, Z:-0.07 [[ 9.86965637e-01 -1.60874925e-01 -4.25323932e-03 2.96177980e+01] [ 1.60874141e-01 9.86974788e-01 -5.27999007e-04 1.56067086e+00] [ 4.28278178e-03 -1.63119346e-04 9.99990816e-01 -7.30899696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.058623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:29.65, Y:1.56, Z:-0.07 [[ 9.87141902e-01 -1.59789786e-01 -4.25319557e-03 2.96453946e+01] [ 1.59788991e-01 9.87151052e-01 -5.28351241e-04 1.56363666e+00] [ 4.28297161e-03 -1.58056180e-04 9.99990816e-01 -7.19965763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.088623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:29.67, Y:1.57, Z:-0.07 [[ 9.87426606e-01 -1.58020915e-01 -4.25309319e-03 2.96720260e+01] [ 1.58020100e-01 9.87435754e-01 -5.29174077e-04 1.56616721e+00] [ 4.28327685e-03 -1.49553647e-04 9.99990816e-01 -7.15266028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.118623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.70, Y:1.57, Z:-0.07 [[ 9.88066349e-01 -1.53970131e-01 -4.25304868e-03 2.96989927e+01] [ 1.53969277e-01 9.88075494e-01 -5.29531592e-04 1.56789604e+00] [ 4.28386522e-03 -1.31626483e-04 9.99990816e-01 -7.10269986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148623853000004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:29.73, Y:1.57, Z:-0.07 [[ 9.88375348e-01 -1.51973956e-01 -4.25300446e-03 2.97270843e+01] [ 1.51973082e-01 9.88384491e-01 -5.29886476e-04 1.57090896e+00] [ 4.28413259e-03 -1.22615465e-04 9.99990816e-01 -7.07593731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.178623853000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:29.75, Y:1.57, Z:-0.07 [[ 9.89053945e-01 -1.47493074e-01 -4.25290558e-03 2.97545975e+01] [ 1.47492155e-01 9.89063083e-01 -5.30678932e-04 1.57346376e+00] [ 4.28466337e-03 -1.02400116e-04 9.99990816e-01 -7.19098005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:29.78, Y:1.58, Z:-0.07 [[ 9.89353463e-01 -1.45470402e-01 -4.25280400e-03 2.97819801e+01] [ 1.45469461e-01 9.89362600e-01 -5.31491750e-04 1.57666152e+00] [ 4.28488154e-03 -9.28199010e-05 9.99990816e-01 -7.19973825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.238623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:29.81, Y:1.58, Z:-0.07 [[ 9.89662170e-01 -1.43355164e-01 -4.25270051e-03 2.98085159e+01] [ 1.43354200e-01 9.89671304e-01 -5.32318469e-04 1.57975330e+00] [ 4.28508627e-03 -8.28270264e-05 9.99990816e-01 -7.29397314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:29.84, Y:1.58, Z:-0.07 [[ 9.89940605e-01 -1.41419635e-01 -4.25265542e-03 2.98361514e+01] [ 1.41418651e-01 9.89949737e-01 -5.32678468e-04 1.58291471e+00] [ 4.28524631e-03 -7.40847471e-05 9.99990816e-01 -7.32643820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.298623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:29.86, Y:1.59, Z:-0.07 [[ 9.90440748e-01 -1.37873278e-01 -4.25255616e-03 2.98642144e+01] [ 1.37872258e-01 9.90449875e-01 -5.33469767e-04 1.58512482e+00] [ 4.28549494e-03 -5.79393250e-05 9.99990816e-01 -7.41833407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:29.89, Y:1.59, Z:-0.07 [[ 9.90640396e-01 -1.36431385e-01 -4.25245404e-03 2.98922017e+01] [ 1.36430349e-01 9.90649522e-01 -5.34282519e-04 1.58810666e+00] [ 4.28558446e-03 -5.08819412e-05 9.99990816e-01 -7.36480663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.358623853000005 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:29.92, Y:1.59, Z:-0.07 [[ 9.90980131e-01 -1.33941394e-01 -4.25234965e-03 2.99193609e+01] [ 1.33940331e-01 9.90989254e-01 -5.35112108e-04 1.59080929e+00] [ 4.28570646e-03 -3.92756518e-05 9.99990816e-01 -7.33025257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:29.95, Y:1.59, Z:-0.07 [[ 9.91131677e-01 -1.32815351e-01 -4.25230412e-03 2.99471897e+01] [ 1.32814276e-01 9.91140798e-01 -5.35473644e-04 1.59409604e+00] [ 4.28575122e-03 -3.40418029e-05 9.99990816e-01 -7.30189282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.418623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:29.97, Y:1.60, Z:-0.07 [[ 9.91291812e-01 -1.31614823e-01 -4.25219916e-03 2.99741742e+01] [ 1.31613733e-01 9.91300932e-01 -5.36305815e-04 1.59713234e+00] [ 4.28579479e-03 -2.80122428e-05 9.99990816e-01 -7.35540370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:30.00, Y:1.60, Z:-0.07 [[ 9.91584624e-01 -1.29390315e-01 -4.25215355e-03 3.00025478e+01] [ 1.29389203e-01 9.91593740e-01 -5.36667234e-04 1.59949433e+00] [ 4.28584838e-03 -1.80317807e-05 9.99990816e-01 -7.24965844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.478623853 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:30.03, Y:1.60, Z:-0.07 [[ 9.91739759e-01 -1.28195830e-01 -4.25204854e-03 3.00297082e+01] [ 1.28194704e-01 9.91748874e-01 -5.37497965e-04 1.60195070e+00] [ 4.28586934e-03 -1.20320016e-05 9.99990816e-01 -7.27532448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:30.06, Y:1.61, Z:-0.07 [[ 9.91829861e-01 -1.27496854e-01 -4.25200275e-03 3.00569921e+01] [ 1.27495719e-01 9.91838975e-01 -5.37859915e-04 1.60550460e+00] [ 4.28587750e-03 -8.64662533e-06 9.99990816e-01 -6.77982963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.538623853000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:30.08, Y:1.61, Z:-0.07 [[ 9.92083768e-01 -1.25505849e-01 -4.25189693e-03 3.00842088e+01] [ 1.25504693e-01 9.92092880e-01 -5.38695148e-04 1.60838184e+00] [ 4.28588606e-03 7.97693162e-07 9.99990816e-01 -7.31692144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568623853000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:30.11, Y:1.61, Z:-0.07 [[ 9.92125744e-01 -1.25173595e-01 -4.25185084e-03 3.01119325e+01] [ 1.25172435e-01 9.92134855e-01 -5.39058669e-04 1.61181470e+00] [ 4.28588533e-03 2.59946104e-06 9.99990816e-01 -7.48094735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.598623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:30.14, Y:1.62, Z:-0.08 [[ 9.92114764e-01 -1.25260598e-01 -4.25174907e-03 3.01401845e+01] [ 1.25259435e-01 9.92123875e-01 -5.39860180e-04 1.61529631e+00] [ 4.28588497e-03 3.03156978e-06 9.99990816e-01 -7.54287438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:30.17, Y:1.62, Z:-0.08 [[ 9.92034577e-01 -1.25894086e-01 -4.25164232e-03 3.01672653e+01] [ 1.25892924e-01 9.92043688e-01 -5.40699589e-04 1.61833075e+00] [ 4.28588581e-03 1.14100231e-06 9.99990816e-01 -7.65754212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.658623853 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:30.20, Y:1.62, Z:-0.07 [[ 9.91902029e-01 -1.26934190e-01 -4.25159590e-03 3.01950043e+01] [ 1.26933036e-01 9.91911141e-01 -5.41064319e-04 1.62070117e+00] [ 4.28588490e-03 -2.98518152e-06 9.99990816e-01 -7.49242379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.688623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:30.22, Y:1.62, Z:-0.07 [[ 9.91753784e-01 -1.28087303e-01 -4.25148855e-03 3.02222957e+01] [ 1.28086157e-01 9.91762896e-01 -5.41906582e-04 1.62307936e+00] [ 4.28587995e-03 -7.11892487e-06 9.99990816e-01 -7.42198273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.718623853000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:30.25, Y:1.62, Z:-0.07 [[ 9.91462651e-01 -1.30321668e-01 -4.25144176e-03 3.02504773e+01] [ 1.30320540e-01 9.91471766e-01 -5.42273360e-04 1.62462610e+00] [ 4.28585444e-03 -1.64064048e-05 9.99990816e-01 -7.37247030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748623853000005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:30.28, Y:1.63, Z:-0.07 [[ 9.91415235e-01 -1.30681895e-01 -4.25133551e-03 3.02775239e+01] [ 1.30680768e-01 9.91424350e-01 -5.43105076e-04 1.62739540e+00] [ 4.28585155e-03 -1.71251419e-05 9.99990816e-01 -7.42076158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.778623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:30.30, Y:1.63, Z:-0.07 [[ 9.91384693e-01 -1.30913394e-01 -4.25128925e-03 3.03041145e+01] [ 1.30912268e-01 9.91393808e-01 -5.43466965e-04 1.63005738e+00] [ 4.28584894e-03 -1.77610851e-05 9.99990816e-01 -7.42274820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:30.33, Y:1.63, Z:-0.07 [[ 9.91426936e-01 -1.30593102e-01 -4.25124440e-03 3.03323900e+01] [ 1.30591971e-01 9.91436050e-01 -5.43817551e-04 1.63194993e+00] [ 4.28585578e-03 -1.60230182e-05 9.99990816e-01 -7.34361977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.838623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:30.36, Y:1.63, Z:-0.07 [[ 9.91513862e-01 -1.29931483e-01 -4.25113979e-03 3.03595329e+01] [ 1.29930342e-01 9.91522975e-01 -5.44634113e-04 1.63498683e+00] [ 4.28586789e-03 -1.23397743e-05 9.99990816e-01 -7.41420151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.868623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:30.39, Y:1.64, Z:-0.07 [[ 9.91597066e-01 -1.29294959e-01 -4.25106820e-03 3.03874469e+01] [ 1.29293810e-01 9.91606179e-01 -5.45192312e-04 1.63804803e+00] [ 4.28587611e-03 -9.02570624e-06 9.99990816e-01 -7.25431861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.898623853000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:30.41, Y:1.64, Z:-0.07 [[ 9.91847444e-01 -1.27360032e-01 -4.25096116e-03 3.04138914e+01] [ 1.27358862e-01 9.91856553e-01 -5.46025655e-04 1.64078424e+00] [ 4.28588553e-03 1.76574628e-07 9.99990816e-01 -7.46587253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928623853000005 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:30.44, Y:1.64, Z:-0.07 [[ 9.91948592e-01 -1.26569827e-01 -4.25091469e-03 3.04412293e+01] [ 1.26568648e-01 9.91957700e-01 -5.46387176e-04 1.64453824e+00] [ 4.28588369e-03 3.95546549e-06 9.99990816e-01 -6.93327458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.958623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:30.47, Y:1.65, Z:-0.07 [[ 9.92073247e-01 -1.25589026e-01 -4.25081087e-03 3.04688520e+01] [ 1.25587834e-01 9.92082354e-01 -5.47193725e-04 1.64783725e+00] [ 4.28587598e-03 9.00612709e-06 9.99990816e-01 -7.40725897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:30.50, Y:1.65, Z:-0.07 [[ 9.92048646e-01 -1.25783210e-01 -4.25070344e-03 3.04970873e+01] [ 1.25782017e-01 9.92057752e-01 -5.48027017e-04 1.65166579e+00] [ 4.28587589e-03 9.00740929e-06 9.99990816e-01 -7.39505157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.018623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:30.52, Y:1.65, Z:-0.07 [[ 9.92364953e-01 -1.23262858e-01 -4.25059600e-03 3.05236661e+01] [ 1.23261638e-01 9.92374056e-01 -5.48859016e-04 1.65410479e+00] [ 4.28583513e-03 2.07330262e-05 9.99990816e-01 -7.49029655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.048623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.55, Y:1.66, Z:-0.07 [[ 9.92530212e-01 -1.21925026e-01 -4.25054929e-03 3.05514538e+01] [ 1.21923792e-01 9.92539313e-01 -5.49220507e-04 1.65785793e+00] [ 4.28580100e-03 2.68748583e-05 9.99990816e-01 -6.85802370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:30.58, Y:1.66, Z:-0.07 [[ 9.92954535e-01 -1.18419698e-01 -4.25044575e-03 3.05802875e+01] [ 1.18418428e-01 9.92963631e-01 -5.50020655e-04 1.66271600e+00] [ 4.28567133e-03 4.28143990e-05 9.99990816e-01 -7.09670067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.61, Y:1.67, Z:-0.07 [[ 9.93172181e-01 -1.16580248e-01 -4.25035287e-03 3.06067794e+01] [ 1.16578958e-01 9.93181274e-01 -5.50737491e-04 1.66698127e+00] [ 4.28557599e-03 5.14754445e-05 9.99990816e-01 -7.16822458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.138623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.63, Y:1.67, Z:-0.07 [[ 9.93378550e-01 -1.14808497e-01 -4.25030669e-03 3.06330700e+01] [ 1.14807189e-01 9.93387641e-01 -5.51093671e-04 1.67135084e+00] [ 4.28547237e-03 5.94788675e-05 9.99990816e-01 -7.23171870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:30.66, Y:1.68, Z:-0.07 [[ 9.93733920e-01 -1.11690788e-01 -4.25026182e-03 3.06598642e+01] [ 1.11689450e-01 9.93743006e-01 -5.51439507e-04 1.67916254e+00] [ 4.28525867e-03 7.32747363e-05 9.99990816e-01 -6.58022827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.198623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:30.69, Y:1.68, Z:-0.07 [[ 9.93904599e-01 -1.10161631e-01 -4.25015726e-03 3.06875130e+01] [ 1.10160277e-01 9.93913683e-01 -5.52244206e-04 1.68418998e+00] [ 4.28512558e-03 8.06795564e-05 9.99990816e-01 -7.07379153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.228623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:30.71, Y:1.69, Z:-0.07 [[ 9.94035861e-01 -1.08970838e-01 -4.25005149e-03 3.07136266e+01] [ 1.08969469e-01 9.94044943e-01 -5.53056969e-04 1.68963480e+00] [ 4.28500928e-03 8.66326039e-05 9.99990816e-01 -7.16492213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.258623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.74, Y:1.70, Z:-0.07 [[ 9.94115448e-01 -1.08242386e-01 -4.25000534e-03 3.07408006e+01] [ 1.08241009e-01 9.94124528e-01 -5.53411403e-04 1.69573314e+00] [ 4.28493713e-03 9.01299573e-05 9.99990816e-01 -7.17011521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288623853000004 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:30.77, Y:1.70, Z:-0.07 [[ 9.94118603e-01 -1.08213403e-01 -4.24989974e-03 3.07676714e+01] [ 1.08212022e-01 9.94127683e-01 -5.54221178e-04 1.70432514e+00] [ 4.28491714e-03 9.10713374e-05 9.99990816e-01 -6.61128383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.318623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:30.79, Y:1.71, Z:-0.07 [[ 9.94107801e-01 -1.08312597e-01 -4.24979118e-03 3.07945890e+01] [ 1.08311213e-01 9.94116881e-01 -5.55052385e-04 1.70965406e+00] [ 4.28490832e-03 9.14818673e-05 9.99990816e-01 -7.38400970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:30.82, Y:1.72, Z:-0.07 [[ 9.93960426e-01 -1.09656788e-01 -4.24974389e-03 3.08211314e+01] [ 1.09655415e-01 9.93969507e-01 -5.55414247e-04 1.71761466e+00] [ 4.28502078e-03 8.60523514e-05 9.99990816e-01 -7.28536511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.378623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:30.85, Y:1.72, Z:-0.07 [[ 9.93811027e-01 -1.11002624e-01 -4.24971145e-03 3.08489101e+01] [ 1.11001262e-01 9.93820110e-01 -5.55662335e-04 1.72353080e+00] [ 4.28512868e-03 8.05000221e-05 9.99990816e-01 -7.04752719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.408623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:30.88, Y:1.73, Z:-0.07 [[ 9.93615162e-01 -1.12742407e-01 -4.24960415e-03 3.08754442e+01] [ 1.12741058e-01 9.93624247e-01 -5.56481746e-04 1.72923888e+00] [ 4.28524881e-03 7.38238338e-05 9.99990816e-01 -6.96322245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.438623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:30.90, Y:1.74, Z:-0.07 [[ 9.93024632e-01 -1.17830479e-01 -4.24955736e-03 3.09030668e+01] [ 1.17829174e-01 9.93033723e-01 -5.56838843e-04 1.73718204e+00] [ 4.28556635e-03 5.22328528e-05 9.99990816e-01 -6.94236625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468623853000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:30.93, Y:1.74, Z:-0.07 [[ 9.92613723e-01 -1.21243308e-01 -4.24945108e-03 3.09306383e+01] [ 1.21242032e-01 9.92622818e-01 -5.57648669e-04 1.74250314e+00] [ 4.28571328e-03 3.83176363e-05 9.99990816e-01 -6.92462956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.498623853000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:30.96, Y:1.75, Z:-0.07 [[ 9.92165890e-01 -1.24855074e-01 -4.24933995e-03 3.09577068e+01] [ 1.24853827e-01 9.92174990e-01 -5.58494212e-04 1.74741822e+00] [ 4.28581966e-03 2.35725527e-05 9.99990816e-01 -7.06431983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:30.99, Y:1.75, Z:-0.07 [[ 9.91206921e-01 -1.32252724e-01 -4.24929175e-03 3.09851410e+01] [ 1.32251543e-01 9.91216029e-01 -5.58860698e-04 1.75317008e+00] [ 4.28587695e-03 -8.02880020e-06 9.99990816e-01 -7.21818281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.558623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:31.01, Y:1.76, Z:-0.07 [[ 9.90744124e-01 -1.35676175e-01 -4.24918226e-03 3.10115437e+01] [ 1.35675022e-01 9.90753236e-01 -5.59691992e-04 1.75741478e+00] [ 4.28582794e-03 -2.19963431e-05 9.99990816e-01 -7.37991266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.588623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:31.04, Y:1.76, Z:-0.07 [[ 9.90274439e-01 -1.39062862e-01 -4.24913484e-03 3.10392327e+01] [ 1.39061739e-01 9.90283555e-01 -5.60051725e-04 1.76148663e+00] [ 4.28573075e-03 -3.62871721e-05 9.99990816e-01 -7.46096564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.618623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:31.07, Y:1.77, Z:-0.07 [[ 9.89861831e-01 -1.41970070e-01 -4.24902648e-03 3.10665334e+01] [ 1.41968970e-01 9.89870950e-01 -5.60872675e-04 1.76512216e+00] [ 4.28561501e-03 -4.80434597e-05 9.99990816e-01 -7.48617238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648623853000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:31.09, Y:1.77, Z:-0.08 [[ 9.89230213e-01 -1.46306300e-01 -4.24891616e-03 3.10937597e+01] [ 1.46305237e-01 9.89239335e-01 -5.61707179e-04 1.76902576e+00] [ 4.28537629e-03 -6.59809708e-05 9.99990816e-01 -7.66973394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.678623853000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:31.12, Y:1.77, Z:-0.08 [[ 9.88998007e-01 -1.47867813e-01 -4.24880613e-03 3.11219216e+01] [ 1.47866760e-01 9.89007131e-01 -5.62538194e-04 1.77285259e+00] [ 4.28528085e-03 -7.19080451e-05 9.99990816e-01 -7.61819032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.15, Y:1.78, Z:-0.07 [[ 9.88793216e-01 -1.49231110e-01 -4.24870086e-03 3.11500428e+01] [ 1.49230067e-01 9.88802341e-01 -5.63332115e-04 1.77711624e+00] [ 4.28519204e-03 -7.70149407e-05 9.99990816e-01 -7.37325475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.738623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.18, Y:1.78, Z:-0.07 [[ 9.88531025e-01 -1.50958147e-01 -4.24858985e-03 3.11777517e+01] [ 1.50957116e-01 9.88540151e-01 -5.64168123e-04 1.78157155e+00] [ 4.28506743e-03 -8.36571800e-05 9.99990816e-01 -6.90422315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:31.21, Y:1.79, Z:-0.07 [[ 9.88379165e-01 -1.51949258e-01 -4.24855537e-03 3.12057111e+01] [ 1.51948235e-01 9.88388292e-01 -5.64427647e-04 1.78549202e+00] [ 4.28498675e-03 -8.76919621e-05 9.99990816e-01 -7.12855422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.798623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:31.23, Y:1.79, Z:-0.07 [[ 9.88250057e-01 -1.52786702e-01 -4.24844598e-03 3.12326310e+01] [ 1.52785683e-01 9.88259184e-01 -5.65249863e-04 1.78885577e+00] [ 4.28492842e-03 -9.04935117e-05 9.99990816e-01 -7.12462410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.26, Y:1.79, Z:-0.07 [[ 9.88130742e-01 -1.53556467e-01 -4.24837131e-03 3.12608114e+01] [ 1.53555453e-01 9.88139870e-01 -5.65810496e-04 1.79201631e+00] [ 4.28486894e-03 -9.32658375e-05 9.99990816e-01 -7.05584396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.858623853000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:31.29, Y:1.79, Z:-0.07 [[ 9.87928520e-01 -1.54852160e-01 -4.24825971e-03 3.12880531e+01] [ 1.54851155e-01 9.87937649e-01 -5.66647225e-04 1.79416687e+00] [ 4.28476225e-03 -9.80409660e-05 9.99990816e-01 -7.12406722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.32, Y:1.80, Z:-0.07 [[ 9.87796153e-01 -1.55694293e-01 -4.24821121e-03 3.13154297e+01] [ 1.55693293e-01 9.87805283e-01 -5.67010540e-04 1.79728972e+00] [ 4.28468579e-03 -1.01327165e-04 9.99990816e-01 -7.15026743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.918623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:31.34, Y:1.80, Z:-0.06 [[ 9.87615085e-01 -1.56838761e-01 -4.24810464e-03 3.13429242e+01] [ 1.56837768e-01 9.87624216e-01 -5.67807907e-04 1.80087262e+00] [ 4.28458530e-03 -1.05487597e-04 9.99990816e-01 -6.47502598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.37, Y:1.80, Z:-0.07 [[ 9.87264441e-01 -1.59031059e-01 -4.24799389e-03 3.13713872e+01] [ 1.59030083e-01 9.87273574e-01 -5.68635246e-04 1.80148995e+00] [ 4.28436277e-03 -1.14165463e-04 9.99990816e-01 -7.01635362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.978623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.40, Y:1.80, Z:-0.07 [[ 9.87103852e-01 -1.60024811e-01 -4.24795948e-03 3.13988791e+01] [ 1.60023843e-01 9.87112985e-01 -5.68892171e-04 1.80327523e+00] [ 4.28425283e-03 -1.18219150e-04 9.99990816e-01 -6.94465784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.43, Y:1.80, Z:-0.07 [[ 9.86965197e-01 -1.60877765e-01 -4.24788465e-03 3.14270821e+01] [ 1.60876803e-01 9.86974331e-01 -5.69450415e-04 1.80486634e+00] [ 4.28416502e-03 -1.21358362e-04 9.99990816e-01 -6.83209442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.038623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.45, Y:1.80, Z:-0.07 [[ 9.86803631e-01 -1.61865843e-01 -4.24777549e-03 3.14541063e+01] [ 1.61864886e-01 9.86812765e-01 -5.70263484e-04 1.80395924e+00] [ 4.28406526e-03 -1.24827621e-04 9.99990816e-01 -6.70964385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.48, Y:1.81, Z:-0.07 [[ 9.86763324e-01 -1.62111377e-01 -4.24770097e-03 3.14811495e+01] [ 1.62110420e-01 9.86772459e-01 -5.70818022e-04 1.80555014e+00] [ 4.28405043e-03 -1.25334300e-04 9.99990816e-01 -6.74294985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.098623853 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:31.51, Y:1.81, Z:-0.07 [[ 9.86734971e-01 -1.62283871e-01 -4.24765382e-03 3.15091050e+01] [ 1.62282914e-01 9.86744105e-01 -5.71168651e-04 1.80753323e+00] [ 4.28403883e-03 -1.25729560e-04 9.99990816e-01 -6.79951388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.54, Y:1.81, Z:-0.07 [[ 9.86804506e-01 -1.61860515e-01 -4.24754326e-03 3.15364388e+01] [ 1.61859551e-01 9.86813639e-01 -5.71989654e-04 1.80905407e+00] [ 4.28411617e-03 -1.23063478e-04 9.99990816e-01 -6.93258556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.158623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:31.56, Y:1.81, Z:-0.07 [[ 9.87018845e-01 -1.60548306e-01 -4.24749511e-03 3.15647731e+01] [ 1.60547329e-01 9.87027977e-01 -5.72347031e-04 1.80772181e+00] [ 4.28428585e-03 -1.17006688e-04 9.99990816e-01 -7.20560287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.188623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:31.59, Y:1.81, Z:-0.07 [[ 9.87213189e-01 -1.59348922e-01 -4.24738837e-03 3.15932238e+01] [ 1.59347930e-01 9.87222320e-01 -5.73138072e-04 1.80840855e+00] [ 4.28444553e-03 -1.11003082e-04 9.99990816e-01 -7.32177451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.218623853000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.62, Y:1.81, Z:-0.07 [[ 9.87390276e-01 -1.58247913e-01 -4.24735517e-03 3.16212782e+01] [ 1.58246910e-01 9.87399406e-01 -5.73383981e-04 1.80989775e+00] [ 4.28457279e-03 -1.05977064e-04 9.99990816e-01 -6.77378303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248623853000005 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:31.65, Y:1.81, Z:-0.07 [[ 9.88004792e-01 -1.54364801e-01 -4.24724877e-03 3.16482500e+01] [ 1.54363759e-01 9.88013917e-01 -5.74171053e-04 1.80905996e+00] [ 4.28497269e-03 -8.83375321e-05 9.99990816e-01 -6.60017821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.278623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.68, Y:1.81, Z:-0.07 [[ 9.88334013e-01 -1.52242701e-01 -4.24720238e-03 3.16766924e+01] [ 1.52241637e-01 9.88343136e-01 -5.74514015e-04 1.81029110e+00] [ 4.28515888e-03 -7.87893011e-05 9.99990816e-01 -7.00101204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.70, Y:1.81, Z:-0.07 [[ 9.88695852e-01 -1.49874861e-01 -4.24709041e-03 3.17044627e+01] [ 1.49873772e-01 9.88704972e-01 -5.75340551e-04 1.81137958e+00] [ 4.28534849e-03 -6.76906415e-05 9.99990816e-01 -6.87529201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.338623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.73, Y:1.81, Z:-0.07 [[ 9.89336065e-01 -1.45588851e-01 -4.24705546e-03 3.17330856e+01] [ 1.45587722e-01 9.89345179e-01 -5.75598391e-04 1.80944792e+00] [ 4.28560456e-03 -4.88588816e-05 9.99990816e-01 -6.73228718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.76, Y:1.81, Z:-0.07 [[ 9.89648380e-01 -1.43450503e-01 -4.24694351e-03 3.17599274e+01] [ 1.43449350e-01 9.89657492e-01 -5.76423225e-04 1.81082282e+00] [ 4.28570766e-03 -3.87649732e-05 9.99990816e-01 -6.79736451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.398623853000004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:31.79, Y:1.81, Z:-0.07 [[ 9.89949773e-01 -1.41355618e-01 -4.24689479e-03 3.17883805e+01] [ 1.41354445e-01 9.89958882e-01 -5.76781971e-04 1.81242112e+00] [ 4.28578259e-03 -2.93322733e-05 9.99990816e-01 -6.85736881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.82, Y:1.81, Z:-0.07 [[ 9.90567646e-01 -1.36958769e-01 -4.24678669e-03 3.18172247e+01] [ 1.36957551e-01 9.90576749e-01 -5.77576823e-04 1.81070215e+00] [ 4.28587236e-03 -9.50059170e-06 9.99990816e-01 -6.85997746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.84, Y:1.81, Z:-0.07 [[ 9.90874088e-01 -1.34723823e-01 -4.24667783e-03 3.18440454e+01] [ 1.34722581e-01 9.90883188e-01 -5.78376071e-04 1.81228543e+00] [ 4.28588270e-03 9.74462981e-07 9.99990816e-01 -6.90762145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.87, Y:1.81, Z:-0.07 [[ 9.91173528e-01 -1.32502848e-01 -4.24660378e-03 3.18722198e+01] [ 1.32501583e-01 9.91182625e-01 -5.78919272e-04 1.81465724e+00] [ 4.28586833e-03 1.11277328e-05 9.99990816e-01 -6.96866333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.90, Y:1.82, Z:-0.07 [[ 9.91497938e-01 -1.30053091e-01 -4.24649647e-03 3.19006186e+01] [ 1.30051801e-01 9.91507031e-01 -5.79705381e-04 1.81712660e+00] [ 4.28582358e-03 2.25121779e-05 9.99990816e-01 -6.94760984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.548623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.93, Y:1.82, Z:-0.07 [[ 9.92150268e-01 -1.24979251e-01 -4.24638577e-03 3.19281478e+01] [ 1.24977910e-01 9.92159355e-01 -5.80515089e-04 1.81668523e+00] [ 4.28564371e-03 4.52537804e-05 9.99990816e-01 -6.90803785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.578623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.96, Y:1.82, Z:-0.07 [[ 9.92450782e-01 -1.22570037e-01 -4.24633778e-03 3.19550039e+01] [ 1.22568673e-01 9.92459865e-01 -5.80865925e-04 1.81854455e+00] [ 4.28551658e-03 5.60128540e-05 9.99990816e-01 -6.95605377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.98, Y:1.82, Z:-0.07 [[ 9.92745809e-01 -1.20157092e-01 -4.24629053e-03 3.19832743e+01] [ 1.20155705e-01 9.92754889e-01 -5.81211153e-04 1.82140276e+00] [ 4.28536232e-03 6.67789043e-05 9.99990816e-01 -6.84641247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.638623853000006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:32.01, Y:1.82, Z:-0.06 [[ 9.93233567e-01 -1.16056245e-01 -4.24618152e-03 3.20105873e+01] [ 1.16054817e-01 9.93242639e-01 -5.82006472e-04 1.82443827e+00] [ 4.28503402e-03 8.52785455e-05 9.99990816e-01 -6.30554454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:32.04, Y:1.83, Z:-0.06 [[ 9.93402853e-01 -1.14598177e-01 -4.24613423e-03 3.20376508e+01] [ 1.14596734e-01 9.93411923e-01 -5.82351265e-04 1.82851299e+00] [ 4.28489676e-03 9.19162937e-05 9.99990816e-01 -6.32792436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.698623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.07, Y:1.83, Z:-0.07 [[ 9.93568124e-01 -1.13156329e-01 -4.24606080e-03 3.20657557e+01] [ 1.13154871e-01 9.93577191e-01 -5.82886188e-04 1.83266663e+00] [ 4.28474642e-03 9.86746736e-05 9.99990816e-01 -6.75920915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.09, Y:1.84, Z:-0.07 [[ 9.93660610e-01 -1.12341280e-01 -4.24594988e-03 3.20931923e+01] [ 1.12339811e-01 9.93669677e-01 -5.83693009e-04 1.83735563e+00] [ 4.28464447e-03 1.03003544e-04 9.99990816e-01 -6.77774712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.12, Y:1.84, Z:-0.07 [[ 9.93709741e-01 -1.11905872e-01 -4.24583908e-03 3.21198410e+01] [ 1.11904396e-01 9.93718806e-01 -5.84497885e-04 1.84093495e+00] [ 4.28457888e-03 1.05693185e-04 9.99990816e-01 -6.85411509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.15, Y:1.84, Z:-0.07 [[ 9.93678417e-01 -1.12183673e-01 -4.24579093e-03 3.21475119e+01] [ 1.12182198e-01 9.93687482e-01 -5.84847415e-04 1.84459204e+00] [ 4.28459963e-03 1.04848097e-04 9.99990816e-01 -6.82831376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.818623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.18, Y:1.85, Z:-0.07 [[ 9.93603145e-01 -1.12848411e-01 -4.24568642e-03 3.21754164e+01] [ 1.12846938e-01 9.93612211e-01 -5.85605122e-04 1.84881597e+00] [ 4.28465048e-03 1.02746377e-04 9.99990816e-01 -6.83328031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.20, Y:1.85, Z:-0.07 [[ 9.93404539e-01 -1.14583579e-01 -4.24558194e-03 3.22027294e+01] [ 1.14582119e-01 9.93413607e-01 -5.86361638e-04 1.85473132e+00] [ 4.28480628e-03 9.60265386e-05 9.99990816e-01 -6.79103899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.23, Y:1.86, Z:-0.07 [[ 9.93259694e-01 -1.15832449e-01 -4.24547775e-03 3.22294636e+01] [ 1.15830997e-01 9.93268763e-01 -5.87115048e-04 1.85911382e+00] [ 4.28490740e-03 9.13997919e-05 9.99990816e-01 -6.81842699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.26, Y:1.86, Z:-0.07 [[ 9.93239192e-01 -1.16008117e-01 -4.24543229e-03 3.22576652e+01] [ 1.16006666e-01 9.93248261e-01 -5.87443570e-04 1.86321945e+00] [ 4.28491646e-03 9.09735321e-05 9.99990816e-01 -6.80621581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.29, Y:1.87, Z:-0.07 [[ 9.93041230e-01 -1.17690666e-01 -4.24532826e-03 3.22851452e+01] [ 1.17689227e-01 9.93050301e-01 -5.88194408e-04 1.86796087e+00] [ 4.28504950e-03 8.44718981e-05 9.99990816e-01 -6.85827276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.31, Y:1.87, Z:-0.07 [[ 9.92595468e-01 -1.21392811e-01 -4.24522436e-03 3.23113359e+01] [ 1.21391402e-01 9.92604544e-01 -5.88943331e-04 1.87360563e+00] [ 4.28532248e-03 6.92487441e-05 9.99990816e-01 -6.80840937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.34, Y:1.88, Z:-0.07 [[ 9.92316970e-01 -1.23648735e-01 -4.24517923e-03 3.23392352e+01] [ 1.23647345e-01 9.92326049e-01 -5.89268453e-04 1.87829321e+00] [ 4.28546423e-03 5.98359449e-05 9.99990816e-01 -6.86202014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:32.37, Y:1.88, Z:-0.06 [[ 9.92018259e-01 -1.26022824e-01 -4.24507601e-03 3.23672339e+01] [ 1.26021453e-01 9.92027341e-01 -5.90011094e-04 1.88326478e+00] [ 4.28558634e-03 5.03311320e-05 9.99990816e-01 -6.34780258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.058623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.40, Y:1.89, Z:-0.07 [[ 9.91395791e-01 -1.30829529e-01 -4.24496661e-03 3.23955347e+01] [ 1.30828198e-01 9.91404879e-01 -5.90797175e-04 1.89037449e+00] [ 4.28577432e-03 3.03524991e-05 9.99990816e-01 -6.74300398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.42, Y:1.90, Z:-0.07 [[ 9.91093666e-01 -1.33098935e-01 -4.24486770e-03 3.24218998e+01] [ 1.33097622e-01 9.91102756e-01 -5.91506990e-04 1.89520771e+00] [ 4.28582903e-03 2.12570340e-05 9.99990816e-01 -7.47956896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.45, Y:1.90, Z:-0.07 [[ 9.90776140e-01 -1.35442323e-01 -4.24481833e-03 3.24492877e+01] [ 1.35441030e-01 9.90785233e-01 -5.91861090e-04 1.90038760e+00] [ 4.28586636e-03 1.14792799e-05 9.99990816e-01 -7.27090142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.48, Y:1.91, Z:-0.07 [[ 9.90511134e-01 -1.37366941e-01 -4.24470341e-03 3.24765503e+01] [ 1.37365662e-01 9.90520229e-01 -5.92684103e-04 1.90533569e+00] [ 4.28587980e-03 3.98370794e-06 9.99990816e-01 -7.47194863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.178623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.50, Y:1.91, Z:-0.07 [[ 9.89972451e-01 -1.41196778e-01 -4.24466770e-03 3.25035212e+01] [ 1.41195533e-01 9.89981550e-01 -5.92939737e-04 1.91161249e+00] [ 4.28586389e-03 -1.23341147e-05 9.99990816e-01 -7.24171605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.53, Y:1.92, Z:-0.07 [[ 9.89653723e-01 -1.43413705e-01 -4.24463614e-03 3.25314397e+01] [ 1.43412480e-01 9.89662826e-01 -5.93165586e-04 1.91674620e+00] [ 4.28582667e-03 -2.17052651e-05 9.99990816e-01 -7.08103583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.238623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:32.56, Y:1.92, Z:-0.06 [[ 9.89272885e-01 -1.46017611e-01 -4.24453502e-03 3.25588234e+01] [ 1.46016407e-01 9.89281990e-01 -5.93888320e-04 1.92171723e+00] [ 4.28576020e-03 -3.22541403e-05 9.99990816e-01 -6.32257651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.59, Y:1.93, Z:-0.07 [[ 9.88495201e-01 -1.51192665e-01 -4.24442102e-03 3.25854416e+01] [ 1.51191505e-01 9.88504312e-01 -5.94701962e-04 1.92591352e+00] [ 4.28554305e-03 -5.38603666e-05 9.99990816e-01 -6.69573077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.61, Y:1.93, Z:-0.07 [[ 9.88109077e-01 -1.53695927e-01 -4.24434305e-03 3.26130768e+01] [ 1.53694788e-01 9.88118190e-01 -5.95257896e-04 1.93024870e+00] [ 4.28540128e-03 -6.41536740e-05 9.99990816e-01 -6.73873448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.64, Y:1.93, Z:-0.07 [[ 9.87770790e-01 -1.55855233e-01 -4.24422862e-03 3.26395554e+01] [ 1.55854111e-01 9.87779905e-01 -5.96072657e-04 1.93403084e+00] [ 4.28526479e-03 -7.26973174e-05 9.99990816e-01 -6.80165037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.358623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.67, Y:1.94, Z:-0.07 [[ 9.87212085e-01 -1.59355847e-01 -4.24417868e-03 3.26662991e+01] [ 1.59354755e-01 9.87221204e-01 -5.96427998e-04 1.93790055e+00] [ 4.28498748e-03 -8.75291261e-05 9.99990816e-01 -6.83033976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388623853000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:32.69, Y:1.94, Z:-0.07 [[ 9.87040757e-01 -1.60413624e-01 -4.24412944e-03 3.26930033e+01] [ 1.60412540e-01 9.87049878e-01 -5.96778215e-04 1.94226359e+00] [ 4.28489880e-03 -9.17671608e-05 9.99990816e-01 -6.80621218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.72, Y:1.95, Z:-0.07 [[ 9.86902415e-01 -1.61262554e-01 -4.24408059e-03 3.27203601e+01] [ 1.61261476e-01 9.86911536e-01 -5.97125421e-04 1.94727220e+00] [ 4.28482606e-03 -9.51021820e-05 9.99990816e-01 -6.75433074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:32.75, Y:1.95, Z:-0.06 [[ 9.86783709e-01 -1.61987343e-01 -4.24396918e-03 3.27476829e+01] [ 1.61986269e-01 9.86792831e-01 -5.97916212e-04 1.95224361e+00] [ 4.28477322e-03 -9.74507561e-05 9.99990816e-01 -6.11011900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:1.95, Z:-0.06 [[ 9.86701531e-01 -1.62487162e-01 -4.24385697e-03 3.27769399e+01] [ 1.62486089e-01 9.86710653e-01 -5.98711545e-04 1.95460146e+00] [ 4.28474182e-03 -9.88181251e-05 9.99990816e-01 -6.42184876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.80, Y:1.96, Z:-0.06 [[ 9.86652792e-01 -1.62782856e-01 -4.24375543e-03 3.28037997e+01] [ 1.62781783e-01 9.86661914e-01 -5.99430467e-04 1.95800511e+00] [ 4.28472885e-03 -9.93763297e-05 9.99990816e-01 -6.39508861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.538623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:1.96, Z:-0.06 [[ 9.86601051e-01 -1.63096162e-01 -4.24367618e-03 3.28310851e+01] [ 1.63095089e-01 9.86610172e-01 -5.99990947e-04 1.96106847e+00] [ 4.28471031e-03 -1.00171045e-04 9.99990816e-01 -6.46271351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:1.96, Z:-0.06 [[ 9.86567265e-01 -1.63300406e-01 -4.24362685e-03 3.28591019e+01] [ 1.63299333e-01 9.86576387e-01 -6.00339672e-04 1.96491748e+00] [ 4.28469776e-03 -1.00705967e-04 9.99990816e-01 -6.42660412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:1.97, Z:-0.07 [[ 9.86585361e-01 -1.63191049e-01 -4.24351029e-03 3.28857883e+01] [ 1.63189972e-01 9.86594482e-01 -6.01162453e-04 1.96846238e+00] [ 4.28472817e-03 -9.94002495e-05 9.99990816e-01 -6.55155598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.91, Y:1.97, Z:-0.06 [[ 9.86560534e-01 -1.63341075e-01 -4.24345968e-03 3.29136829e+01] [ 1.63339997e-01 9.86569655e-01 -6.01519466e-04 1.97294961e+00] [ 4.28472139e-03 -9.96913277e-05 9.99990816e-01 -6.13024154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:1.97, Z:-0.07 [[ 9.86635199e-01 -1.62889466e-01 -4.24334634e-03 3.29404074e+01] [ 1.62888381e-01 9.86644319e-01 -6.02317956e-04 1.97400965e+00] [ 4.28478481e-03 -9.69237209e-05 9.99990816e-01 -6.75798859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:1.98, Z:-0.07 [[ 9.86605082e-01 -1.63071785e-01 -4.24329717e-03 3.29681380e+01] [ 1.63070700e-01 9.86614202e-01 -6.02664170e-04 1.97567110e+00] [ 4.28477477e-03 -9.73659067e-05 9.99990816e-01 -6.80021723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.718623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.00, Y:1.98, Z:-0.07 [[ 9.86596510e-01 -1.63123637e-01 -4.24318989e-03 3.29964442e+01] [ 1.63122550e-01 9.86605630e-01 -6.03418551e-04 1.97749990e+00] [ 4.28478686e-03 -9.68293164e-05 9.99990816e-01 -6.79851660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.02, Y:1.98, Z:-0.07 [[ 9.86613432e-01 -1.63021261e-01 -4.24307457e-03 3.30229829e+01] [ 1.63020169e-01 9.86622552e-01 -6.04228364e-04 1.97967805e+00] [ 4.28481513e-03 -9.55669130e-05 9.99990816e-01 -6.85631320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:1.98, Z:-0.07 [[ 9.86668939e-01 -1.62684978e-01 -4.24302468e-03 3.30507251e+01] [ 1.62683882e-01 9.86678058e-01 -6.04578490e-04 1.98087592e+00] [ 4.28485519e-03 -9.37529075e-05 9.99990816e-01 -6.75127786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.08, Y:1.98, Z:-0.07 [[ 9.86657809e-01 -1.62752465e-01 -4.24291795e-03 3.30783417e+01] [ 1.62751366e-01 9.86666928e-01 -6.05326607e-04 1.98311047e+00] [ 4.28486521e-03 -9.32904665e-05 9.99990816e-01 -6.66052032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.11, Y:1.98, Z:-0.07 [[ 9.86723100e-01 -1.62356158e-01 -4.24279906e-03 3.31056267e+01] [ 1.62355052e-01 9.86732218e-01 -6.06158778e-04 1.98454678e+00] [ 4.28492013e-03 -9.07289912e-05 9.99990816e-01 -6.72035570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.13, Y:1.98, Z:-0.07 [[ 9.86789252e-01 -1.61953606e-01 -4.24274741e-03 3.31326097e+01] [ 1.61952495e-01 9.86798369e-01 -6.06520044e-04 1.98350810e+00] [ 4.28496434e-03 -8.86160682e-05 9.99990816e-01 -6.76507124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.16, Y:1.99, Z:-0.07 [[ 9.86816267e-01 -1.61788920e-01 -4.24266822e-03 3.31605952e+01] [ 1.61787805e-01 9.86825384e-01 -6.07073469e-04 1.98500162e+00] [ 4.28499046e-03 -8.73420051e-05 9.99990816e-01 -6.63827595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.19, Y:1.99, Z:-0.07 [[ 9.86850313e-01 -1.61581126e-01 -4.24259617e-03 3.31891289e+01] [ 1.61580006e-01 9.86859429e-01 -6.07576635e-04 1.98665596e+00] [ 4.28501895e-03 -8.59315237e-05 9.99990816e-01 -6.54857491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.22, Y:1.99, Z:-0.07 [[ 9.86937339e-01 -1.61048723e-01 -4.24247652e-03 3.32161071e+01] [ 1.61047595e-01 9.86946453e-01 -6.08410943e-04 1.98814435e+00] [ 4.28508096e-03 -8.27771631e-05 9.99990816e-01 -6.64004748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:1.99, Z:-0.07 [[ 9.87201635e-01 -1.59420619e-01 -4.24242470e-03 3.32443466e+01] [ 1.59419475e-01 9.87210748e-01 -6.08772078e-04 1.98825357e+00] [ 4.28521808e-03 -7.53443268e-05 9.99990816e-01 -6.54893195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:1.99, Z:-0.06 [[ 9.87390899e-01 -1.58244165e-01 -4.24230993e-03 3.32723360e+01] [ 1.58243006e-01 9.87400010e-01 -6.09570827e-04 1.99036316e+00] [ 4.28531789e-03 -6.94311899e-05 9.99990816e-01 -6.48504435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:1.99, Z:-0.07 [[ 9.87945609e-01 -1.54743265e-01 -4.24219069e-03 3.32993379e+01] [ 1.54742070e-01 9.87954715e-01 -6.10399489e-04 1.99021017e+00] [ 4.28554751e-03 -5.34038733e-05 9.99990816e-01 -6.67632793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.33, Y:1.99, Z:-0.07 [[ 9.88262804e-01 -1.52704404e-01 -4.24207194e-03 3.33274642e+01] [ 1.52703187e-01 9.88271908e-01 -6.11223658e-04 1.99211553e+00] [ 4.28565707e-03 -4.37282976e-05 9.99990816e-01 -6.69226517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.36, Y:1.99, Z:-0.07 [[ 9.88579050e-01 -1.50643510e-01 -4.24195369e-03 3.33550276e+01] [ 1.50642270e-01 9.88588151e-01 -6.12043241e-04 1.99417119e+00] [ 4.28574550e-03 -3.39644080e-05 9.99990816e-01 -6.62218215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.138623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.38, Y:2.00, Z:-0.07 [[ 9.89208163e-01 -1.46455514e-01 -4.24183330e-03 3.33828544e+01] [ 1.46454232e-01 9.89217257e-01 -6.12876497e-04 1.99561009e+00] [ 4.28585384e-03 -1.49720062e-05 9.99990816e-01 -6.52048617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.41, Y:2.00, Z:-0.07 [[ 9.89510448e-01 -1.44399032e-01 -4.24171308e-03 3.34101745e+01] [ 1.44397727e-01 9.89519540e-01 -6.13707392e-04 1.99864752e+00] [ 4.28587673e-03 -5.22385309e-06 9.99990816e-01 -6.50241360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.198623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.44, Y:2.00, Z:-0.06 [[ 9.89765674e-01 -1.42639125e-01 -4.24166079e-03 3.34380835e+01] [ 1.42637803e-01 9.89774762e-01 -6.14068589e-04 2.00156264e+00] [ 4.28587901e-03 2.76283589e-06 9.99990816e-01 -6.23662418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.228623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:33.47, Y:2.00, Z:-0.06 [[ 9.90218154e-01 -1.39463317e-01 -4.24154264e-03 3.34663957e+01] [ 1.39461963e-01 9.90227238e-01 -6.14883582e-04 2.00224189e+00] [ 4.28584476e-03 1.73350240e-05 9.99990816e-01 -6.01693475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.258623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.49, Y:2.00, Z:-0.06 [[ 9.90403956e-01 -1.38137662e-01 -4.24150598e-03 3.34939753e+01] [ 1.38136294e-01 9.90413038e-01 -6.15136395e-04 2.00490595e+00] [ 4.28581632e-03 2.33276025e-05 9.99990816e-01 -6.29162771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:2.01, Z:-0.06 [[ 9.90593786e-01 -1.36769737e-01 -4.24138766e-03 3.35215110e+01] [ 1.36768354e-01 9.90602866e-01 -6.15951084e-04 2.00855345e+00] [ 4.28577424e-03 3.00697090e-05 9.99990816e-01 -6.25151827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.318623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:2.01, Z:-0.06 [[ 9.90728903e-01 -1.35787525e-01 -4.24135080e-03 3.35497896e+01] [ 1.35786131e-01 9.90737981e-01 -6.16204812e-04 2.01201758e+00] [ 4.28574026e-03 3.45753017e-05 9.99990816e-01 -6.18497309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.58, Y:2.01, Z:-0.06 [[ 9.90954476e-01 -1.34131425e-01 -4.24122986e-03 3.35770934e+01] [ 1.34130013e-01 9.90963551e-01 -6.17036104e-04 2.01312005e+00] [ 4.28566813e-03 4.25784743e-05 9.99990816e-01 -6.32742674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.60, Y:2.02, Z:-0.06 [[ 9.91004443e-01 -1.33761753e-01 -4.24117753e-03 3.36046602e+01] [ 1.33760336e-01 9.91013517e-01 -6.17395566e-04 2.01612639e+00] [ 4.28564818e-03 4.45404172e-05 9.99990816e-01 -6.38866985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:2.02, Z:-0.06 [[ 9.91081558e-01 -1.33189181e-01 -4.24106047e-03 3.36310572e+01] [ 1.33187755e-01 9.91090631e-01 -6.18198677e-04 2.01940983e+00] [ 4.28561267e-03 4.78279849e-05 9.99990816e-01 -6.43947614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.438623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.66, Y:2.02, Z:-0.06 [[ 9.91318582e-01 -1.31413401e-01 -4.24100950e-03 3.36584622e+01] [ 1.31411957e-01 9.91327653e-01 -6.18548127e-04 2.02228728e+00] [ 4.28551551e-03 5.58588927e-05 9.99990816e-01 -6.47992908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.69, Y:2.03, Z:-0.06 [[ 9.91441013e-01 -1.30486522e-01 -4.24089232e-03 3.36859704e+01] [ 1.30485066e-01 9.91450081e-01 -6.19350480e-04 2.02575445e+00] [ 4.28544993e-03 6.06763521e-05 9.99990816e-01 -6.40915879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.498623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.71, Y:2.03, Z:-0.06 [[ 9.91732185e-01 -1.28254782e-01 -4.24077270e-03 3.37133495e+01] [ 1.28253302e-01 9.91741249e-01 -6.20168465e-04 2.02979631e+00] [ 4.28528879e-03 7.11479230e-05 9.99990816e-01 -6.34773306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.74, Y:2.03, Z:-0.06 [[ 9.91822777e-01 -1.27552326e-01 -4.24073563e-03 3.37410876e+01] [ 1.27550839e-01 9.91831840e-01 -6.20421836e-04 2.03400134e+00] [ 4.28523287e-03 7.44391202e-05 9.99990816e-01 -6.20340971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.558623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.77, Y:2.04, Z:-0.06 [[ 9.91883419e-01 -1.27079896e-01 -4.24061522e-03 3.37684811e+01] [ 1.27078401e-01 9.91892481e-01 -6.21243776e-04 2.03757574e+00] [ 4.28518195e-03 7.73108005e-05 9.99990816e-01 -6.08843101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.588623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.79, Y:2.04, Z:-0.06 [[ 9.92005779e-01 -1.26121180e-01 -4.24049316e-03 3.37948634e+01] [ 1.26119673e-01 9.92014839e-01 -6.22075846e-04 2.04115042e+00] [ 4.28508908e-03 8.22932245e-05 9.99990816e-01 -6.12991640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:2.05, Z:-0.06 [[ 9.92040621e-01 -1.25846831e-01 -4.24041023e-03 3.38229289e+01] [ 1.25845319e-01 9.92049680e-01 -6.22640604e-04 2.04568509e+00] [ 4.28505496e-03 8.40489952e-05 9.99990816e-01 -6.02814598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.85, Y:2.05, Z:-0.06 [[ 9.92069161e-01 -1.25621650e-01 -4.24029292e-03 3.38510206e+01] [ 1.25620132e-01 9.92078220e-01 -6.23438519e-04 2.05008903e+00] [ 4.28501962e-03 8.58279716e-05 9.99990816e-01 -5.98690294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.678623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:33.88, Y:2.05, Z:-0.06 [[ 9.92069869e-01 -1.25616067e-01 -4.24017506e-03 3.38780886e+01] [ 1.25614546e-01 9.92078926e-01 -6.24239025e-04 2.05428506e+00] [ 4.28500278e-03 8.66610608e-05 9.99990816e-01 -5.93233173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:2.06, Z:-0.06 [[ 9.92069019e-01 -1.25622777e-01 -4.24012370e-03 3.39043612e+01] [ 1.25621254e-01 9.92078077e-01 -6.24587752e-04 2.05923811e+00] [ 4.28499621e-03 8.69845030e-05 9.99990816e-01 -5.90956546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.93, Y:2.06, Z:-0.06 [[ 9.92053465e-01 -1.25745556e-01 -4.24007292e-03 3.39318315e+01] [ 1.25744033e-01 9.92062522e-01 -6.24932263e-04 2.06460379e+00] [ 4.28499989e-03 8.68023484e-05 9.99990816e-01 -5.63583631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:2.07, Z:-0.06 [[ 9.92090326e-01 -1.25454403e-01 -4.23995532e-03 3.39579751e+01] [ 1.25452874e-01 9.92099383e-01 -6.25729136e-04 2.06933759e+00] [ 4.28495753e-03 8.88652441e-05 9.99990816e-01 -5.88164387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.798623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.98, Y:2.08, Z:-0.06 [[ 9.92241293e-01 -1.24254734e-01 -4.23990424e-03 3.39848897e+01] [ 1.24253192e-01 9.92250348e-01 -6.26075051e-04 2.07719238e+00] [ 4.28483924e-03 9.43958815e-05 9.99990816e-01 -5.77244426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.01, Y:2.08, Z:-0.06 [[ 9.92218284e-01 -1.24438343e-01 -4.23978785e-03 3.40130637e+01] [ 1.24436800e-01 9.92227338e-01 -6.26862261e-04 2.08153979e+00] [ 4.28483911e-03 9.43985626e-05 9.99990816e-01 -5.76023686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.858623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.04, Y:2.09, Z:-0.06 [[ 9.92303982e-01 -1.23753111e-01 -4.23967170e-03 3.40400784e+01] [ 1.23751559e-01 9.92313034e-01 -6.27646794e-04 2.08796594e+00] [ 4.28475474e-03 9.81504317e-05 9.99990816e-01 -5.66566674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:2.09, Z:-0.06 [[ 9.92367105e-01 -1.23245915e-01 -4.23955588e-03 3.40678657e+01] [ 1.23244354e-01 9.92376156e-01 -6.28428165e-04 2.09459433e+00] [ 4.28468537e-03 1.01130112e-04 9.99990816e-01 -5.64879287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:2.10, Z:-0.06 [[ 9.92413819e-01 -1.22869198e-01 -4.23943992e-03 3.40954638e+01] [ 1.22867631e-01 9.92422868e-01 -6.29209514e-04 2.10075764e+00] [ 4.28462759e-03 1.03546278e-04 9.99990816e-01 -5.59725022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:2.11, Z:-0.06 [[ 9.92419376e-01 -1.22824306e-01 -4.23932389e-03 3.41221787e+01] [ 1.22822735e-01 9.92428425e-01 -6.29990281e-04 2.10900867e+00] [ 4.28460365e-03 1.04529209e-04 9.99990816e-01 -5.53925544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.978623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.15, Y:2.12, Z:-0.06 [[ 9.92403566e-01 -1.22951988e-01 -4.23920650e-03 3.41482698e+01] [ 1.22950415e-01 9.92412615e-01 -6.30779225e-04 2.11512474e+00] [ 4.28459756e-03 1.04775354e-04 9.99990816e-01 -5.52925454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.18, Y:2.12, Z:-0.06 [[ 9.92371064e-01 -1.23214047e-01 -4.23915519e-03 3.41756771e+01] [ 1.23212475e-01 9.92380113e-01 -6.31123874e-04 2.12183992e+00] [ 4.28461663e-03 1.03992269e-04 9.99990816e-01 -5.52126937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.038623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:2.13, Z:-0.06 [[ 9.92325899e-01 -1.23577269e-01 -4.23903958e-03 3.42030170e+01] [ 1.23575696e-01 9.92334947e-01 -6.31899383e-04 2.12883359e+00] [ 4.28463552e-03 1.03207854e-04 9.99990816e-01 -5.52968618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:2.14, Z:-0.06 [[ 9.92221159e-01 -1.24415446e-01 -4.23892018e-03 3.42296837e+01] [ 1.24413877e-01 9.92230209e-01 -6.32699327e-04 2.13825819e+00] [ 4.28470223e-03 1.00397164e-04 9.99990816e-01 -5.79467112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:2.15, Z:-0.06 [[ 9.92129960e-01 -1.25140619e-01 -4.23888292e-03 3.42573193e+01] [ 1.25139056e-01 9.92139010e-01 -6.32948873e-04 2.14527072e+00] [ 4.28476872e-03 9.75177325e-05 9.99990816e-01 -5.67749036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.28, Y:2.16, Z:-0.06 [[ 9.91847705e-01 -1.27358404e-01 -4.23876424e-03 3.42840632e+01] [ 1.27356858e-01 9.91856758e-01 -6.33742672e-04 2.15534513e+00] [ 4.28495941e-03 8.87405205e-05 9.99990816e-01 -5.63359808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.158623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:34.31, Y:2.16, Z:-0.05 [[ 9.91656335e-01 -1.28840005e-01 -4.23864505e-03 3.43102854e+01] [ 1.28838469e-01 9.91665390e-01 -6.34538846e-04 2.16231227e+00] [ 4.28507159e-03 8.31439270e-05 9.99990816e-01 -5.16180555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.188623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.34, Y:2.17, Z:-0.06 [[ 9.91416099e-01 -1.30675758e-01 -4.23859313e-03 3.43373727e+01] [ 1.30674237e-01 9.91425156e-01 -6.34885484e-04 2.16818558e+00] [ 4.28521200e-03 7.55607660e-05 9.99990816e-01 -5.59495798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.218623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.36, Y:2.18, Z:-0.06 [[ 9.90881603e-01 -1.34668791e-01 -4.23847396e-03 3.43644177e+01] [ 1.34667303e-01 9.90890667e-01 -6.35680070e-04 2.17726531e+00] [ 4.28547055e-03 5.90998283e-05 9.99990816e-01 -5.54511208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.39, Y:2.18, Z:-0.06 [[ 9.90609030e-01 -1.36659382e-01 -4.23835264e-03 3.43906083e+01] [ 1.36657910e-01 9.90618095e-01 -6.36487915e-04 2.18369729e+00] [ 4.28557087e-03 5.13062637e-05 9.99990816e-01 -5.56647555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.278623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.42, Y:2.19, Z:-0.05 [[ 9.90337480e-01 -1.38613536e-01 -4.23829969e-03 3.44174601e+01] [ 1.38612080e-01 9.90346548e-01 -6.36840288e-04 2.19008262e+00] [ 4.28566016e-03 4.32072693e-05 9.99990816e-01 -5.26067205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.44, Y:2.20, Z:-0.06 [[ 9.89836188e-01 -1.42149069e-01 -4.23826280e-03 3.44448203e+01] [ 1.42147644e-01 9.89845261e-01 -6.37085738e-04 2.19810289e+00] [ 4.28578549e-03 2.81514472e-05 9.99990816e-01 -5.80094989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.338623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.47, Y:2.20, Z:-0.06 [[ 9.89546828e-01 -1.44149622e-01 -4.23814428e-03 3.44722406e+01] [ 1.44148212e-01 9.89555904e-01 -6.37873212e-04 2.20464296e+00] [ 4.28582987e-03 2.02844958e-05 9.99990816e-01 -5.82181134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.368623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.50, Y:2.21, Z:-0.06 [[ 9.89238273e-01 -1.46252108e-01 -4.23802115e-03 3.44996563e+01] [ 1.46250714e-01 9.89247351e-01 -6.38690252e-04 2.21053254e+00] [ 4.28586099e-03 1.20032226e-05 9.99990816e-01 -5.92212301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.398623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.53, Y:2.22, Z:-0.06 [[ 9.88666619e-01 -1.50067842e-01 -4.23789759e-03 3.45264207e+01] [ 1.50066479e-01 9.88675702e-01 -6.39509051e-04 2.21724095e+00] [ 4.28587611e-03 -3.70511731e-06 9.99990816e-01 -5.94115524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428623853000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.55, Y:2.22, Z:-0.06 [[ 9.88347899e-01 -1.52152786e-01 -4.23784385e-03 3.45539874e+01] [ 1.52151441e-01 9.88356985e-01 -6.39864963e-04 2.22344630e+00] [ 4.28585980e-03 -1.23848562e-05 9.99990816e-01 -5.73630387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.58, Y:2.23, Z:-0.06 [[ 9.88051680e-01 -1.54064661e-01 -4.23771928e-03 3.45814632e+01] [ 1.54063330e-01 9.88060767e-01 -6.40688909e-04 2.22950284e+00] [ 4.28583168e-03 -1.98433920e-05 9.99990816e-01 -5.66983935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:2.24, Z:-0.05 [[ 9.87746332e-01 -1.56010335e-01 -4.23768058e-03 3.46098849e+01] [ 1.56009021e-01 9.87755422e-01 -6.40944757e-04 2.23527269e+00] [ 4.28578598e-03 -2.80255677e-05 9.99990816e-01 -5.45875891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:2.24, Z:-0.05 [[ 9.87214414e-01 -1.59341596e-01 -4.23757356e-03 3.46380799e+01] [ 1.59340310e-01 9.87223508e-01 -6.41651524e-04 2.24210795e+00] [ 4.28567401e-03 -4.17686507e-05 9.99990816e-01 -5.05324687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:2.25, Z:-0.05 [[ 9.86988925e-01 -1.60732405e-01 -4.23746381e-03 3.46657466e+01] [ 1.60731128e-01 9.86998020e-01 -6.42375514e-04 2.24719351e+00] [ 4.28561895e-03 -4.70748206e-05 9.99990816e-01 -4.96424340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.578623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:34.69, Y:2.25, Z:-0.04 [[ 9.86712611e-01 -1.62420035e-01 -4.23742491e-03 3.46924784e+01] [ 1.62418772e-01 9.86721708e-01 -6.42632039e-04 2.25264819e+00] [ 4.28553546e-03 -5.41442140e-05 9.99990816e-01 -4.35168443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:2.26, Z:-0.05 [[ 9.86220823e-01 -1.65379968e-01 -4.23737202e-03 3.47204243e+01] [ 1.65378731e-01 9.86229923e-01 -6.42980540e-04 2.25582248e+00] [ 4.28535919e-03 -6.66504120e-05 9.99990816e-01 -5.01697368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.638623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.75, Y:2.26, Z:-0.05 [[ 9.85942817e-01 -1.67029362e-01 -4.23724978e-03 3.47470426e+01] [ 1.67028137e-01 9.85951919e-01 -6.43785111e-04 2.25965477e+00] [ 4.28525557e-03 -7.30046324e-05 9.99990816e-01 -5.14516633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.77, Y:2.26, Z:-0.05 [[ 9.85658401e-01 -1.68699622e-01 -4.23719658e-03 3.47747769e+01] [ 1.68698411e-01 9.85667505e-01 -6.44135071e-04 2.26334209e+00] [ 4.28513233e-03 -7.99111881e-05 9.99990816e-01 -5.22611877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.80, Y:2.27, Z:-0.06 [[ 9.85154974e-01 -1.71615046e-01 -4.23707467e-03 3.48025604e+01] [ 1.71613859e-01 9.85164081e-01 -6.44935979e-04 2.26649844e+00] [ 4.28489450e-03 -9.17788484e-05 9.99990816e-01 -5.50121626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.728623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:34.83, Y:2.27, Z:-0.06 [[ 9.84944699e-01 -1.72817786e-01 -4.23703677e-03 3.48298605e+01] [ 1.72816609e-01 9.84953808e-01 -6.45184882e-04 2.27027421e+00] [ 4.28478493e-03 -9.67588965e-05 9.99990816e-01 -5.57975454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.758623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:34.86, Y:2.27, Z:-0.05 [[ 9.84855836e-01 -1.73323485e-01 -4.23691115e-03 3.48567406e+01] [ 1.73322309e-01 9.84864945e-01 -6.46008812e-04 2.27447414e+00] [ 4.28475376e-03 -9.81256758e-05 9.99990816e-01 -5.22902615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:34.89, Y:2.28, Z:-0.05 [[ 9.84979071e-01 -1.72621780e-01 -4.23685636e-03 3.48858124e+01] [ 1.72620596e-01 9.84988179e-01 -6.46367931e-04 2.27640080e+00] [ 4.28483061e-03 -9.47097858e-05 9.99990816e-01 -5.33590932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.818623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:2.28, Z:-0.05 [[ 9.85194308e-01 -1.71389104e-01 -4.23674621e-03 3.49136990e+01] [ 1.71387906e-01 9.85203414e-01 -6.47089110e-04 2.27974531e+00] [ 4.28496086e-03 -8.86185515e-05 9.99990816e-01 -5.18365292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.94, Y:2.28, Z:-0.05 [[ 9.85429614e-01 -1.70030954e-01 -4.23670707e-03 3.49410273e+01] [ 1.70029741e-01 9.85438719e-01 -6.47345281e-04 2.28307368e+00] [ 4.28508392e-03 -8.24529972e-05 9.99990816e-01 -5.09163002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.878623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:34.97, Y:2.29, Z:-0.05 [[ 9.86156960e-01 -1.65760376e-01 -4.23658072e-03 3.49680087e+01] [ 1.65759121e-01 9.86166058e-01 -6.48171166e-04 2.28561933e+00] [ 4.28541320e-03 -6.30533874e-05 9.99990816e-01 -5.09254028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.908623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.00, Y:2.29, Z:-0.05 [[ 9.86474062e-01 -1.63862675e-01 -4.23652566e-03 3.49959066e+01] [ 1.63861401e-01 9.86483158e-01 -6.48530796e-04 2.28970177e+00] [ 4.28553121e-03 -5.44442223e-05 9.99990816e-01 -5.13149422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:2.29, Z:-0.05 [[ 9.86815965e-01 -1.61790925e-01 -4.23640101e-03 3.50230357e+01] [ 1.61789628e-01 9.86825058e-01 -6.49344054e-04 2.29367785e+00] [ 4.28564465e-03 -4.46226627e-05 9.99990816e-01 -5.34221090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.05, Y:2.30, Z:-0.05 [[ 9.87416661e-01 -1.58083494e-01 -4.23634678e-03 3.50512660e+01] [ 1.58082161e-01 9.87425748e-01 -6.49697671e-04 2.29754198e+00] [ 4.28578436e-03 -2.81685495e-05 9.99990816e-01 -5.33436939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:2.30, Z:-0.06 [[ 9.87690501e-01 -1.56363451e-01 -4.23623536e-03 3.50785702e+01] [ 1.56362099e-01 9.87699585e-01 -6.50423369e-04 2.30104351e+00] [ 4.28583035e-03 -1.99696702e-05 9.99990816e-01 -5.60529632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:2.30, Z:-0.06 [[ 9.87929268e-01 -1.54847721e-01 -4.23610812e-03 3.51060824e+01] [ 1.54846352e-01 9.87938350e-01 -6.51250986e-04 2.30496856e+00] [ 4.28585840e-03 -1.25559779e-05 9.99990816e-01 -5.68288068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.058623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.13, Y:2.31, Z:-0.06 [[ 9.88174310e-01 -1.53276189e-01 -4.23598374e-03 3.51331890e+01] [ 1.53274802e-01 9.88183389e-01 -6.52058980e-04 2.30905342e+00] [ 4.28587388e-03 -4.92163850e-06 9.99990816e-01 -5.69551944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:2.31, Z:-0.06 [[ 9.88628787e-01 -1.50316924e-01 -4.23592958e-03 3.51609928e+01] [ 1.50315508e-01 9.88637862e-01 -6.52410639e-04 2.31457217e+00] [ 4.28586872e-03 8.26603110e-06 9.99990816e-01 -5.52018710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:2.32, Z:-0.05 [[ 9.88859271e-01 -1.48793145e-01 -4.23580509e-03 3.51885462e+01] [ 1.48791711e-01 9.88868343e-01 -6.53217864e-04 2.31935042e+00] [ 4.28584791e-03 1.56878510e-05 9.99990816e-01 -5.41874629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:2.32, Z:-0.05 [[ 9.89003966e-01 -1.47828322e-01 -4.23574684e-03 3.52168907e+01] [ 1.47826878e-01 9.89013037e-01 -6.53595424e-04 2.32424703e+00] [ 4.28582876e-03 2.02512348e-05 9.99990816e-01 -5.24309179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.178623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.24, Y:2.33, Z:-0.05 [[ 9.89142145e-01 -1.46900907e-01 -4.23563642e-03 3.52439971e+01] [ 1.46899452e-01 9.89151213e-01 -6.54310218e-04 2.32902332e+00] [ 4.28580366e-03 2.49931459e-05 9.99990816e-01 -5.14078989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.27, Y:2.33, Z:-0.05 [[ 9.89122438e-01 -1.47033540e-01 -4.23557749e-03 3.52716791e+01] [ 1.47032084e-01 9.89131507e-01 -6.54691463e-04 2.33349277e+00] [ 4.28580475e-03 2.48042300e-05 9.99990816e-01 -5.06130154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.238623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:35.30, Y:2.34, Z:-0.05 [[ 9.89058389e-01 -1.47463772e-01 -4.23545183e-03 3.52988730e+01] [ 1.47462317e-01 9.89067457e-01 -6.55503386e-04 2.33765265e+00] [ 4.28581057e-03 2.37615807e-05 9.99990816e-01 -4.97933491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.33, Y:2.34, Z:-0.05 [[ 9.89000935e-01 -1.47848613e-01 -4.23532180e-03 3.53255498e+01] [ 1.47847158e-01 9.89010004e-01 -6.56342446e-04 2.34163949e+00] [ 4.28581495e-03 2.29430018e-05 9.99990816e-01 -5.09206003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.298623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.35, Y:2.35, Z:-0.05 [[ 9.88833883e-01 -1.48961790e-01 -4.23526538e-03 3.53526931e+01] [ 1.48960343e-01 9.88842953e-01 -6.56706352e-04 2.34631810e+00] [ 4.28583647e-03 1.84869081e-05 9.99990816e-01 -5.16231937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.38, Y:2.35, Z:-0.05 [[ 9.88731255e-01 -1.49641465e-01 -4.23514091e-03 3.53798624e+01] [ 1.49640022e-01 9.88740326e-01 -6.57508076e-04 2.35098215e+00] [ 4.28584507e-03 1.63522087e-05 9.99990816e-01 -5.18822183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.358623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.41, Y:2.36, Z:-0.05 [[ 9.88643574e-01 -1.50219669e-01 -4.23501300e-03 3.54060719e+01] [ 1.50218227e-01 9.88652644e-01 -6.58330872e-04 2.35522013e+00] [ 4.28585105e-03 1.46784419e-05 9.99990816e-01 -5.27928344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.43, Y:2.36, Z:-0.05 [[ 9.88402910e-01 -1.51795100e-01 -4.23495738e-03 3.54326584e+01] [ 1.51793671e-01 9.88411983e-01 -6.58688484e-04 2.35952424e+00] [ 4.28586831e-03 8.20988627e-06 9.99990816e-01 -5.37461100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.418623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:35.46, Y:2.37, Z:-0.05 [[ 9.88203115e-01 -1.53090395e-01 -4.23490308e-03 3.54602654e+01] [ 1.53088977e-01 9.88212189e-01 -6.59037431e-04 2.36543117e+00] [ 4.28587514e-03 2.94586360e-06 9.99990816e-01 -4.83117649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.49, Y:2.37, Z:-0.05 [[ 9.88016276e-01 -1.54291622e-01 -4.23477980e-03 3.54882922e+01] [ 1.54290211e-01 9.88025352e-01 -6.59828621e-04 2.36946124e+00] [ 4.28587583e-03 -1.46365177e-06 9.99990816e-01 -5.28597538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.52, Y:2.37, Z:-0.05 [[ 9.87785961e-01 -1.55759314e-01 -4.23465321e-03 3.55155718e+01] [ 1.55757913e-01 9.87795038e-01 -6.60640057e-04 2.37486196e+00] [ 4.28587027e-03 -7.00977311e-06 9.99990816e-01 -5.30444004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.54, Y:2.38, Z:-0.05 [[ 9.87332247e-01 -1.58609908e-01 -4.23461392e-03 3.55438466e+01] [ 1.58608532e-01 9.87341327e-01 -6.60891842e-04 2.38019420e+00] [ 4.28583332e-03 -1.91260702e-05 9.99990816e-01 -5.08541830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.538623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.57, Y:2.38, Z:-0.05 [[ 9.87058547e-01 -1.60304379e-01 -4.23450339e-03 3.55715220e+01] [ 1.60303016e-01 9.87067630e-01 -6.61599278e-04 2.38454507e+00] [ 4.28579848e-03 -2.57664410e-05 9.99990816e-01 -5.00138728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.60, Y:2.39, Z:-0.05 [[ 9.86563475e-01 -1.63323543e-01 -4.23437589e-03 3.55980760e+01] [ 1.63322204e-01 9.86572561e-01 -6.62414252e-04 2.38717063e+00] [ 4.28570691e-03 -3.80538976e-05 9.99990816e-01 -5.12629315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:2.39, Z:-0.05 [[ 9.86284633e-01 -1.64999073e-01 -4.23432052e-03 3.56253760e+01] [ 1.64997748e-01 9.86293721e-01 -6.62768021e-04 2.39084163e+00] [ 4.28563985e-03 -4.49754336e-05 9.99990816e-01 -5.12092350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:35.65, Y:2.40, Z:-0.05 [[ 9.86092851e-01 -1.66141390e-01 -4.23419292e-03 3.56524679e+01] [ 1.66140072e-01 9.86101940e-01 -6.63582212e-04 2.39539256e+00] [ 4.28559432e-03 -4.91154407e-05 9.99990816e-01 -4.78546868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.658623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.68, Y:2.40, Z:-0.05 [[ 9.85710496e-01 -1.68395043e-01 -4.23415319e-03 3.56804185e+01] [ 1.68393745e-01 9.85719588e-01 -6.63835653e-04 2.39859386e+00] [ 4.28547437e-03 -5.86551398e-05 9.99990816e-01 -5.47829019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.688623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.71, Y:2.40, Z:-0.05 [[ 9.85527563e-01 -1.69462370e-01 -4.23411431e-03 3.57083210e+01] [ 1.69461080e-01 9.85536656e-01 -6.64083511e-04 2.40271219e+00] [ 4.28541203e-03 -6.30449817e-05 9.99990816e-01 -5.42810959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.718623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.74, Y:2.41, Z:-0.05 [[ 9.85495890e-01 -1.69646466e-01 -4.23399035e-03 3.57364419e+01] [ 1.69645175e-01 9.85504984e-01 -6.64872886e-04 2.40732821e+00] [ 4.28541193e-03 -6.30465366e-05 9.99990816e-01 -5.41590251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.76, Y:2.41, Z:-0.05 [[ 9.85310172e-01 -1.70721819e-01 -4.23386601e-03 3.57645456e+01] [ 1.70720534e-01 9.85319266e-01 -6.65663776e-04 2.41114651e+00] [ 4.28535308e-03 -6.69225769e-05 9.99990816e-01 -5.36872192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:2.42, Z:-0.05 [[ 9.85155754e-01 -1.71610650e-01 -4.23374043e-03 3.57919731e+01] [ 1.71609370e-01 9.85164849e-01 -6.66461497e-04 2.41516000e+00] [ 4.28530415e-03 -6.99811499e-05 9.99990816e-01 -5.20561063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.82, Y:2.42, Z:-0.05 [[ 9.85157019e-01 -1.71603390e-01 -4.23361467e-03 3.58195872e+01] [ 1.71602107e-01 9.85166114e-01 -6.67259458e-04 2.41867542e+00] [ 4.28531769e-03 -6.91418582e-05 9.99990816e-01 -5.01513503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:2.42, Z:-0.05 [[ 9.85170809e-01 -1.71524209e-01 -4.23355611e-03 3.58473727e+01] [ 1.71522924e-01 9.85179903e-01 -6.67630762e-04 2.42226735e+00] [ 4.28532924e-03 -6.84215845e-05 9.99990816e-01 -4.92225758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.88, Y:2.43, Z:-0.05 [[ 9.85438216e-01 -1.69981174e-01 -4.23349753e-03 3.58755847e+01] [ 1.69979873e-01 9.85447308e-01 -6.68002002e-04 2.42524132e+00] [ 4.28543651e-03 -6.13346712e-05 9.99990816e-01 -4.65713722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:2.43, Z:-0.05 [[ 9.85640724e-01 -1.68802964e-01 -4.23345907e-03 3.59018582e+01] [ 1.68801650e-01 9.85649814e-01 -6.68245681e-04 2.42947375e+00] [ 4.28551000e-03 -5.59647214e-05 9.99990816e-01 -4.63101327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.93, Y:2.43, Z:-0.05 [[ 9.85785443e-01 -1.67955766e-01 -4.23337495e-03 3.59294524e+01] [ 1.67954443e-01 9.85794531e-01 -6.68778158e-04 2.43388435e+00] [ 4.28556302e-03 -5.17423582e-05 9.99990816e-01 -4.68106809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.958623853000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:35.96, Y:2.44, Z:-0.05 [[ 9.85886805e-01 -1.67359754e-01 -4.23325085e-03 3.59572264e+01] [ 1.67358422e-01 9.85895892e-01 -6.69562763e-04 2.43795847e+00] [ 4.28560248e-03 -4.83570889e-05 9.99990816e-01 -4.69355361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:2.44, Z:-0.05 [[ 9.86104875e-01 -1.66070033e-01 -4.23312331e-03 3.59843308e+01] [ 1.66068685e-01 9.86113960e-01 -6.70368146e-04 2.44106021e+00] [ 4.28567005e-03 -4.19359238e-05 9.99990816e-01 -4.78008432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:2.45, Z:-0.05 [[ 9.86124479e-01 -1.65953589e-01 -4.23306786e-03 3.60121616e+01] [ 1.65952239e-01 9.86133563e-01 -6.70718080e-04 2.44527195e+00] [ 4.28567837e-03 -4.10755727e-05 9.99990816e-01 -4.84298991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.04, Y:2.45, Z:-0.05 [[ 9.86186567e-01 -1.65584228e-01 -4.23294700e-03 3.60398519e+01] [ 1.65582871e-01 9.86195651e-01 -6.71480006e-04 2.44911227e+00] [ 4.28570042e-03 -3.86989539e-05 9.99990816e-01 -4.78796786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:2.45, Z:-0.05 [[ 9.86242613e-01 -1.65250089e-01 -4.23282144e-03 3.60680537e+01] [ 1.65248726e-01 9.86251695e-01 -6.72270571e-04 2.45281988e+00] [ 4.28572009e-03 -3.64464637e-05 9.99990816e-01 -4.68462618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.10, Y:2.46, Z:-0.05 [[ 9.86413504e-01 -1.64226926e-01 -4.23269597e-03 3.60960431e+01] [ 1.64225549e-01 9.86422585e-01 -6.73059577e-04 2.45648561e+00] [ 4.28576141e-03 -3.12017655e-05 9.99990816e-01 -4.52191888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.138623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.12, Y:2.46, Z:-0.05 [[ 9.86549267e-01 -1.63409392e-01 -4.23256771e-03 3.61224018e+01] [ 1.63408005e-01 9.86558346e-01 -6.73865183e-04 2.46030719e+00] [ 4.28579090e-03 -2.68342440e-05 9.99990816e-01 -4.50057516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.15, Y:2.46, Z:-0.04 [[ 9.86703693e-01 -1.62474328e-01 -4.23251208e-03 3.61502295e+01] [ 1.62472931e-01 9.86712771e-01 -6.74214441e-04 2.46411509e+00] [ 4.28581626e-03 -2.24187622e-05 9.99990816e-01 -4.48817282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.198623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.18, Y:2.47, Z:-0.04 [[ 9.87095750e-01 -1.60075190e-01 -4.23238501e-03 3.61774864e+01] [ 1.60073767e-01 9.87104824e-01 -6.75011189e-04 2.46807062e+00] [ 4.28586020e-03 -1.11931362e-05 9.99990816e-01 -4.03440070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:2.47, Z:-0.05 [[ 9.87311052e-01 -1.58741847e-01 -4.23225316e-03 3.62040921e+01] [ 1.58740408e-01 9.87320123e-01 -6.75836858e-04 2.47189710e+00] [ 4.28587230e-03 -4.56839378e-06 9.99990816e-01 -4.61942961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.23, Y:2.48, Z:-0.05 [[ 9.87455070e-01 -1.57843507e-01 -4.23219590e-03 3.62318144e+01] [ 1.57842058e-01 9.87464140e-01 -6.76195227e-04 2.47684680e+00] [ 4.28587471e-03 -3.06107236e-07 9.99990816e-01 -4.56363568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.26, Y:2.48, Z:-0.05 [[ 9.87748317e-01 -1.55997922e-01 -4.23206512e-03 3.62587276e+01] [ 1.55996453e-01 9.87757383e-01 -6.77012762e-04 2.48231180e+00] [ 4.28586615e-03 8.53106821e-06 9.99990816e-01 -4.89736481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.318623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.29, Y:2.49, Z:-0.05 [[ 9.87797442e-01 -1.55686553e-01 -4.23202439e-03 3.62872767e+01] [ 1.55685080e-01 9.87806508e-01 -6.77267239e-04 2.48775865e+00] [ 4.28586264e-03 1.01397890e-05 9.99990816e-01 -5.16303249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.32, Y:2.49, Z:-0.05 [[ 9.87773528e-01 -1.55838215e-01 -4.23191747e-03 3.63157441e+01] [ 1.55836740e-01 9.87782593e-01 -6.77934690e-04 2.49308865e+00] [ 4.28586254e-03 1.01577163e-05 9.99990816e-01 -5.27870070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.34, Y:2.50, Z:-0.05 [[ 9.87495323e-01 -1.57591493e-01 -4.23180527e-03 3.63445583e+01] [ 1.57590032e-01 9.87504391e-01 -6.78634338e-04 2.49682979e+00] [ 4.28587328e-03 3.25790670e-06 9.99990816e-01 -5.49182965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:2.50, Z:-0.05 [[ 9.87216309e-01 -1.59330013e-01 -4.23169205e-03 3.63719492e+01] [ 1.59328564e-01 9.87225378e-01 -6.79339589e-04 2.50085404e+00] [ 4.28587297e-03 -3.57429901e-06 9.99990816e-01 -5.27976773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.40, Y:2.51, Z:-0.05 [[ 9.86897955e-01 -1.61290173e-01 -4.23155844e-03 3.63992597e+01] [ 1.61288739e-01 9.86907027e-01 -6.80170826e-04 2.50523064e+00] [ 4.28585963e-03 -1.12435292e-05 9.99990816e-01 -5.29843532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.43, Y:2.51, Z:-0.05 [[ 9.86143948e-01 -1.65837896e-01 -4.23151702e-03 3.64264971e+01] [ 1.65836503e-01 9.86153026e-01 -6.80428441e-04 2.50861821e+00] [ 4.28576413e-03 -3.07395951e-05 9.99990816e-01 -5.04696074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.498623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:2.51, Z:-0.05 [[ 9.85760134e-01 -1.68104289e-01 -4.23145805e-03 3.64541301e+01] [ 1.68102916e-01 9.85769216e-01 -6.80794975e-04 2.51182131e+00] [ 4.28568563e-03 -4.02198885e-05 9.99990816e-01 -4.80392046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.48, Y:2.52, Z:-0.05 [[ 9.85388662e-01 -1.70268260e-01 -4.23133196e-03 3.64813890e+01] [ 1.70266903e-01 9.85397746e-01 -6.81577712e-04 2.51518392e+00] [ 4.28559603e-03 -4.88368376e-05 9.99990816e-01 -4.70549582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.51, Y:2.52, Z:-0.04 [[ 9.84824698e-01 -1.73500462e-01 -4.23129280e-03 3.65087291e+01] [ 1.73499134e-01 9.84833786e-01 -6.81820756e-04 2.51843827e+00] [ 4.28541632e-03 -6.26517162e-05 9.99990816e-01 -4.48419632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.54, Y:2.52, Z:-0.05 [[ 9.84594333e-01 -1.74803022e-01 -4.23116056e-03 3.65357473e+01] [ 1.74801702e-01 9.84603422e-01 -6.82640384e-04 2.52211833e+00] [ 4.28534277e-03 -6.74902164e-05 9.99990816e-01 -4.51500030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:2.53, Z:-0.04 [[ 9.84395506e-01 -1.75919259e-01 -4.23110326e-03 3.65635015e+01] [ 1.75917948e-01 9.84404596e-01 -6.82995404e-04 2.52533030e+00] [ 4.28526954e-03 -7.19893976e-05 9.99990816e-01 -4.48648817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.59, Y:2.53, Z:-0.05 [[ 9.84283324e-01 -1.76545849e-01 -4.23097348e-03 3.65902116e+01] [ 1.76544540e-01 9.84292415e-01 -6.83798383e-04 2.52840417e+00] [ 4.28523687e-03 -7.39039207e-05 9.99990816e-01 -4.55362595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.678623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.62, Y:2.53, Z:-0.05 [[ 9.84215906e-01 -1.76921310e-01 -4.23091696e-03 3.66180517e+01] [ 1.76920003e-01 9.84224997e-01 -6.84147921e-04 2.53116563e+00] [ 4.28521458e-03 -7.51845745e-05 9.99990816e-01 -4.65997716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.65, Y:2.53, Z:-0.05 [[ 9.84203356e-01 -1.76991113e-01 -4.23087681e-03 3.66456427e+01] [ 1.76989806e-01 9.84212447e-01 -6.84396102e-04 2.53475807e+00] [ 4.28521365e-03 -7.52371251e-05 9.99990816e-01 -4.63534197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:2.54, Z:-0.05 [[ 9.84205659e-01 -1.76978309e-01 -4.23074895e-03 3.66736509e+01] [ 1.76976999e-01 9.84214749e-01 -6.85185577e-04 2.53792704e+00] [ 4.28522851e-03 -7.43817299e-05 9.99990816e-01 -4.56692604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.70, Y:2.54, Z:-0.04 [[ 9.84254609e-01 -1.76705871e-01 -4.23070931e-03 3.67017475e+01] [ 1.76704557e-01 9.84263699e-01 -6.85430306e-04 2.53984737e+00] [ 4.28525315e-03 -7.29476753e-05 9.99990816e-01 -4.39846774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:2.54, Z:-0.04 [[ 9.84347378e-01 -1.76188368e-01 -4.23058010e-03 3.67291296e+01] [ 1.76187046e-01 9.84356467e-01 -6.86226846e-04 2.54302869e+00] [ 4.28530407e-03 -6.98878123e-05 9.99990816e-01 -4.41053670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:36.76, Y:2.55, Z:-0.04 [[ 9.84479686e-01 -1.75447571e-01 -4.23054006e-03 3.67570892e+01] [ 1.75446241e-01 9.84488774e-01 -6.86473612e-04 2.54658233e+00] [ 4.28535932e-03 -6.64130254e-05 9.99990816e-01 -3.89089766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.858623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.78, Y:2.55, Z:-0.04 [[ 9.84693461e-01 -1.74243768e-01 -4.23041295e-03 3.67840586e+01] [ 1.74242423e-01 9.84702547e-01 -6.87256052e-04 2.54845816e+00] [ 4.28544849e-03 -6.03808625e-05 9.99990816e-01 -4.42603392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.81, Y:2.55, Z:-0.05 [[ 9.85461719e-01 -1.69844945e-01 -4.23035780e-03 3.68120213e+01] [ 1.69843558e-01 9.85470798e-01 -6.87595354e-04 2.55050620e+00] [ 4.28567867e-03 -4.09001208e-05 9.99990816e-01 -4.54739191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.84, Y:2.55, Z:-0.05 [[ 9.85957545e-01 -1.66942577e-01 -4.23031859e-03 3.68386101e+01] [ 1.66941162e-01 9.85966620e-01 -6.87836502e-04 2.55446554e+00] [ 4.28578212e-03 -2.80367131e-05 9.99990816e-01 -4.56914055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.87, Y:2.56, Z:-0.05 [[ 9.86457129e-01 -1.63964747e-01 -4.23026471e-03 3.68664895e+01] [ 1.63963304e-01 9.86466199e-01 -6.88167679e-04 2.55871450e+00] [ 4.28584839e-03 -1.47602655e-05 9.99990816e-01 -4.55375560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.89, Y:2.56, Z:-0.04 [[ 9.86935448e-01 -1.61060630e-01 -4.23014116e-03 3.68937684e+01] [ 1.61059157e-01 9.86944514e-01 -6.88926318e-04 2.56285751e+00] [ 4.28587352e-03 -1.37716273e-06 9.99990816e-01 -4.48667351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:2.57, Z:-0.05 [[ 9.87872389e-01 -1.55210344e-01 -4.23001073e-03 3.69217171e+01] [ 1.55208814e-01 9.87881444e-01 -6.89726215e-04 2.56842534e+00] [ 4.28580176e-03 2.48265347e-05 9.99990816e-01 -4.57973242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.038623853000004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:36.95, Y:2.57, Z:-0.04 [[ 9.88321180e-01 -1.52326469e-01 -4.22987790e-03 3.69493841e+01] [ 1.52324909e-01 9.88330231e-01 -6.90539850e-04 2.57436013e+00] [ 4.28570370e-03 3.81593937e-05 9.99990816e-01 -4.27040969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.98, Y:2.58, Z:-0.05 [[ 9.88678738e-01 -1.49988207e-01 -4.22983683e-03 3.69765994e+01] [ 1.49986624e-01 9.88687785e-01 -6.90791351e-04 2.57929293e+00] [ 4.28559856e-03 4.85517750e-05 9.99990816e-01 -4.71862411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:2.58, Z:-0.05 [[ 9.89346393e-01 -1.45519151e-01 -4.22970969e-03 3.70037299e+01] [ 1.45517524e-01 9.89355433e-01 -6.91568980e-04 2.58400366e+00] [ 4.28532279e-03 6.87043951e-05 9.99990816e-01 -4.65786518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.03, Y:2.59, Z:-0.05 [[ 9.89638848e-01 -1.43516764e-01 -4.22957928e-03 3.70307321e+01] [ 1.43515115e-01 9.89647883e-01 -6.92365594e-04 2.58934057e+00] [ 4.28516025e-03 7.81833328e-05 9.99990816e-01 -4.54087724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.06, Y:2.60, Z:-0.05 [[ 9.89892780e-01 -1.41754706e-01 -4.22944735e-03 3.70568451e+01] [ 1.41753037e-01 9.89901811e-01 -6.93170606e-04 2.59580261e+00] [ 4.28499779e-03 8.66275696e-05 9.99990816e-01 -4.50726735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:2.60, Z:-0.04 [[ 9.90208881e-01 -1.39529514e-01 -4.22935738e-03 3.70841129e+01] [ 1.39527823e-01 9.90217908e-01 -6.93719133e-04 2.60456046e+00] [ 4.28477971e-03 9.68138186e-05 9.99990816e-01 -4.47076852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.218623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.11, Y:2.61, Z:-0.05 [[ 9.90265727e-01 -1.39125495e-01 -4.22922497e-03 3.71104832e+01] [ 1.39123797e-01 9.90274753e-01 -6.94525434e-04 2.61038095e+00] [ 4.28472090e-03 9.93788993e-05 9.99990816e-01 -4.53022103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.14, Y:2.62, Z:-0.05 [[ 9.90221048e-01 -1.39443144e-01 -4.22916759e-03 3.71376830e+01] [ 1.39441447e-01 9.90230074e-01 -6.94874634e-04 2.61605914e+00] [ 4.28474444e-03 9.83582398e-05 9.99990816e-01 -4.60360980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:2.62, Z:-0.05 [[ 9.89926969e-01 -1.41515764e-01 -4.22903447e-03 3.71648132e+01] [ 1.41514083e-01 9.89935998e-01 -6.95683844e-04 2.62185371e+00] [ 4.28492369e-03 9.02082655e-05 9.99990816e-01 -4.90564935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:2.63, Z:-0.05 [[ 9.89593807e-01 -1.43827023e-01 -4.22899322e-03 3.71925336e+01] [ 1.43825362e-01 9.89602840e-01 -6.95934542e-04 2.62700387e+00] [ 4.28511789e-03 8.04560322e-05 9.99990816e-01 -4.85541970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.22, Y:2.63, Z:-0.05 [[ 9.89197686e-01 -1.46526636e-01 -4.22886344e-03 3.72197538e+01] [ 1.46524996e-01 9.89206723e-01 -6.96722261e-04 2.63280453e+00] [ 4.28530851e-03 6.95618473e-05 9.99990816e-01 -4.75270391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:2.64, Z:-0.05 [[ 9.88331645e-01 -1.52258584e-01 -4.22873342e-03 3.72482223e+01] [ 1.52256993e-01 9.88340691e-01 -6.97510528e-04 2.63992150e+00] [ 4.28563127e-03 4.55174911e-05 9.99990816e-01 -4.67913279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.398623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.28, Y:2.65, Z:-0.04 [[ 9.87906868e-01 -1.54990771e-01 -4.22861650e-03 3.72759107e+01] [ 1.54989202e-01 9.87915917e-01 -6.98218592e-04 2.64566014e+00] [ 4.28573499e-03 3.43850467e-05 9.99990816e-01 -4.37507252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.30, Y:2.65, Z:-0.04 [[ 9.87481564e-01 -1.57677775e-01 -4.22848258e-03 3.73045500e+01] [ 1.57676227e-01 9.87490617e-01 -6.99028709e-04 2.65073386e+00] [ 4.28580816e-03 2.35467848e-05 9.99990816e-01 -4.48197423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.458623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.33, Y:2.66, Z:-0.04 [[ 9.86907837e-01 -1.61229784e-01 -4.22836557e-03 3.73306647e+01] [ 1.61228265e-01 9.86916895e-01 -6.99735765e-04 2.65656139e+00] [ 4.28586367e-03 8.84266313e-06 9.99990816e-01 -4.49111943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.36, Y:2.66, Z:-0.04 [[ 9.86686368e-01 -1.62579619e-01 -4.22830740e-03 3.73585760e+01] [ 1.62578111e-01 9.86695428e-01 -7.00087110e-04 2.66182868e+00] [ 4.28587147e-03 3.33617590e-06 9.99990816e-01 -4.36955594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.39, Y:2.67, Z:-0.04 [[ 9.86513678e-01 -1.63624218e-01 -4.22817436e-03 3.73862146e+01] [ 1.63622717e-01 9.86522739e-01 -7.00889691e-04 2.66710488e+00] [ 4.28587268e-03 -3.88108851e-07 9.99990816e-01 -4.35166970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.548623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.41, Y:2.67, Z:-0.04 [[ 9.86434840e-01 -1.64098841e-01 -4.22804073e-03 3.74134651e+01] [ 1.64097341e-01 9.86443901e-01 -7.01694838e-04 2.67265859e+00] [ 4.28587231e-03 -1.63400749e-06 9.99990816e-01 -3.85230409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:2.68, Z:-0.04 [[ 9.86333291e-01 -1.64708117e-01 -4.22799909e-03 3.74422069e+01] [ 1.64706621e-01 9.86342352e-01 -7.01945687e-04 2.67858603e+00] [ 4.28587072e-03 -4.02704393e-06 9.99990816e-01 -4.17715520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:2.68, Z:-0.04 [[ 9.86351878e-01 -1.64596775e-01 -4.22787907e-03 3.74682958e+01] [ 1.64595275e-01 9.86360939e-01 -7.02667816e-04 2.68415977e+00] [ 4.28587163e-03 -2.81119915e-06 9.99990816e-01 -4.24690492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.638623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:2.69, Z:-0.04 [[ 9.86320837e-01 -1.64782682e-01 -4.22781938e-03 3.74963774e+01] [ 1.64781182e-01 9.86329898e-01 -7.03026810e-04 2.68902684e+00] [ 4.28587130e-03 -3.25508217e-06 9.99990816e-01 -4.23469358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:2.69, Z:-0.04 [[ 9.86319353e-01 -1.64791564e-01 -4.22768672e-03 3.75243696e+01] [ 1.64790061e-01 9.86328414e-01 -7.03823653e-04 2.69438560e+00] [ 4.28587174e-03 -2.48586201e-06 9.99990816e-01 -4.25956100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.55, Y:2.70, Z:-0.04 [[ 9.86239117e-01 -1.65271084e-01 -4.22755924e-03 3.75515884e+01] [ 1.65269582e-01 9.86248178e-01 -7.04588536e-04 2.69972457e+00] [ 4.28587071e-03 -3.79417226e-06 9.99990816e-01 -4.38182990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.728623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.58, Y:2.71, Z:-0.04 [[ 9.86184587e-01 -1.65596164e-01 -4.22742185e-03 3.75784771e+01] [ 1.65594661e-01 9.86193648e-01 -7.05411869e-04 2.70558767e+00] [ 4.28587007e-03 -4.37217596e-06 9.99990816e-01 -4.05736744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:2.71, Z:-0.04 [[ 9.86067187e-01 -1.66293812e-01 -4.22728466e-03 3.76056060e+01] [ 1.66292312e-01 9.86076249e-01 -7.06233025e-04 2.71119622e+00] [ 4.28586719e-03 -6.57172928e-06 9.99990816e-01 -4.30639306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.63, Y:2.72, Z:-0.04 [[ 9.85996815e-01 -1.66710563e-01 -4.22714818e-03 3.76326504e+01] [ 1.66709064e-01 9.86005876e-01 -7.07048995e-04 2.71695388e+00] [ 4.28586548e-03 -7.55585901e-06 9.99990816e-01 -4.20139103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.818623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:2.72, Z:-0.04 [[ 9.85952542e-01 -1.66972208e-01 -4.22701183e-03 3.76604797e+01] [ 1.66970708e-01 9.85961603e-01 -7.07863253e-04 2.72206799e+00] [ 4.28586484e-03 -7.86758155e-06 9.99990816e-01 -4.14188207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848623853 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:37.69, Y:2.73, Z:-0.04 [[ 9.85974315e-01 -1.66843592e-01 -4.22687185e-03 3.76881249e+01] [ 1.66842086e-01 9.85983375e-01 -7.08698125e-04 2.72871942e+00] [ 4.28586711e-03 -6.46196943e-06 9.99990816e-01 -3.58073557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.878623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.72, Y:2.73, Z:-0.04 [[ 9.85988384e-01 -1.66760430e-01 -4.22673194e-03 3.77154102e+01] [ 1.66758921e-01 9.85997444e-01 -7.09531542e-04 2.73405397e+00] [ 4.28586868e-03 -5.25539822e-06 9.99990816e-01 -3.68982971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:2.74, Z:-0.04 [[ 9.85998533e-01 -1.66700419e-01 -4.22659261e-03 3.77418194e+01] [ 1.66698905e-01 9.86007591e-01 -7.10360535e-04 2.73870215e+00] [ 4.28586980e-03 -4.15391701e-06 9.99990816e-01 -4.26856147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.938623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.77, Y:2.74, Z:-0.04 [[ 9.85996506e-01 -1.66712410e-01 -4.22653195e-03 3.77690591e+01] [ 1.66710895e-01 9.86005564e-01 -7.10721322e-04 2.74468560e+00] [ 4.28587008e-03 -3.84018265e-06 9.99990816e-01 -3.97915892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:2.75, Z:-0.04 [[ 9.86108697e-01 -1.66047509e-01 -4.22639103e-03 3.77962957e+01] [ 1.66045984e-01 9.86117754e-01 -7.11558322e-04 2.75107803e+00] [ 4.28587171e-03 -1.01408545e-07 9.99990816e-01 -4.42667097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:2.76, Z:-0.04 [[ 9.86154586e-01 -1.65774761e-01 -4.22634709e-03 3.78241203e+01] [ 1.65773233e-01 9.86163642e-01 -7.11819169e-04 2.75655025e+00] [ 4.28587150e-03 1.34851547e-06 9.99990816e-01 -4.45318382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:37.85, Y:2.76, Z:-0.05 [[ 9.86288301e-01 -1.64977354e-01 -4.22620933e-03 3.78505868e+01] [ 1.64975815e-01 9.86297355e-01 -7.12636187e-04 2.76247400e+00] [ 4.28586791e-03 5.64240556e-06 9.99990816e-01 -4.53670719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.058623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:37.88, Y:2.77, Z:-0.05 [[ 9.86325818e-01 -1.64752909e-01 -4.22614951e-03 3.78768894e+01] [ 1.64751366e-01 9.86334872e-01 -7.12990767e-04 2.76817684e+00] [ 4.28586593e-03 6.97729704e-06 9.99990816e-01 -4.60050824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.088623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:37.90, Y:2.77, Z:-0.05 [[ 9.86358034e-01 -1.64559924e-01 -4.22606040e-03 3.79045787e+01] [ 1.64558377e-01 9.86367088e-01 -7.13518552e-04 2.77357483e+00] [ 4.28586344e-03 8.35111516e-06 9.99990816e-01 -4.50106838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.118623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.93, Y:2.78, Z:-0.04 [[ 9.86343628e-01 -1.64646257e-01 -4.22592596e-03 3.79319942e+01] [ 1.64644708e-01 9.86352680e-01 -7.14313895e-04 2.77834034e+00] [ 4.28586250e-03 8.78261444e-06 9.99990816e-01 -4.42676090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148623853000004 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:37.96, Y:2.78, Z:-0.04 [[ 9.86391645e-01 -1.64358343e-01 -4.22578794e-03 3.79594703e+01] [ 1.64356787e-01 9.86400697e-01 -7.15129464e-04 2.78361472e+00] [ 4.28585766e-03 1.08607986e-05 9.99990816e-01 -3.92286096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.178623853000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:37.99, Y:2.79, Z:-0.04 [[ 9.86378796e-01 -1.64435441e-01 -4.22564927e-03 3.79865110e+01] [ 1.64433883e-01 9.86387848e-01 -7.15947886e-04 2.78784224e+00] [ 4.28585630e-03 1.13558971e-05 9.99990816e-01 -4.38555473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208623853000006 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:38.01, Y:2.79, Z:-0.04 [[ 9.86362078e-01 -1.64535695e-01 -4.22559767e-03 3.80137957e+01] [ 1.64534137e-01 9.86371129e-01 -7.16252331e-04 2.79258614e+00] [ 4.28585662e-03 1.12290728e-05 9.99990816e-01 -4.43429555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.238623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.04, Y:2.80, Z:-0.04 [[ 9.86197974e-01 -1.65516465e-01 -4.22555491e-03 3.80415936e+01] [ 1.65514915e-01 9.86207027e-01 -7.16504494e-04 2.79720801e+00] [ 4.28586524e-03 7.22291954e-06 9.99990816e-01 -4.21846381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.268623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:38.07, Y:2.80, Z:-0.04 [[ 9.86089064e-01 -1.66164090e-01 -4.22541801e-03 3.80683576e+01] [ 1.66162541e-01 9.86098116e-01 -7.17310938e-04 2.80127180e+00] [ 4.28586806e-03 5.22627583e-06 9.99990816e-01 -4.23456997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.298623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:38.10, Y:2.81, Z:-0.04 [[ 9.85930802e-01 -1.67100566e-01 -4.22535831e-03 3.80960027e+01] [ 1.67099025e-01 9.85939857e-01 -7.17662455e-04 2.80589025e+00] [ 4.28587096e-03 1.51226746e-06 9.99990816e-01 -4.15759056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:38.12, Y:2.81, Z:-0.04 [[ 9.85837643e-01 -1.67649302e-01 -4.22522279e-03 3.81235237e+01] [ 1.67647763e-01 9.85846698e-01 -7.18459420e-04 2.80992131e+00] [ 4.28587115e-03 -6.48066137e-08 9.99990816e-01 -4.08751963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.358623853000005 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:38.15, Y:2.81, Z:-0.04 [[ 9.85822149e-01 -1.67740389e-01 -4.22518061e-03 3.81511135e+01] [ 1.67738849e-01 9.85831204e-01 -7.18707404e-04 2.81413517e+00] [ 4.28587114e-03 -2.09254698e-07 9.99990816e-01 -4.02090090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388623853000006 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:38.18, Y:2.82, Z:-0.04 [[ 9.85934220e-01 -1.67080411e-01 -4.22504416e-03 3.81775479e+01] [ 1.67078862e-01 9.85943272e-01 -7.19508665e-04 2.81836711e+00] [ 4.28586966e-03 3.47264547e-06 9.99990816e-01 -4.13268537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.418623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:38.21, Y:2.82, Z:-0.04 [[ 9.86290255e-01 -1.64965700e-01 -4.22498500e-03 3.82052678e+01] [ 1.64964130e-01 9.86299304e-01 -7.19855858e-04 2.82385480e+00] [ 4.28585129e-03 1.30158415e-05 9.99990816e-01 -4.24233249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:38.23, Y:2.83, Z:-0.04 [[ 9.86555559e-01 -1.63371597e-01 -4.22485716e-03 3.82320331e+01] [ 1.63370009e-01 9.86564606e-01 -7.20605376e-04 2.82887176e+00] [ 4.28582099e-03 2.07022873e-05 9.99990816e-01 -4.27354280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.478623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:38.26, Y:2.83, Z:-0.04 [[ 9.86778363e-01 -1.62020408e-01 -4.22480172e-03 3.82594930e+01] [ 1.62018807e-01 9.86787407e-01 -7.20930295e-04 2.83372789e+00] [ 4.28578655e-03 2.69010839e-05 9.99990816e-01 -4.17545646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:38.29, Y:2.84, Z:-0.04 [[ 9.87182308e-01 -1.59540726e-01 -4.22466349e-03 3.82867229e+01] [ 1.59539098e-01 9.87191347e-01 -7.21739409e-04 2.83784382e+00] [ 4.28569807e-03 3.84893726e-05 9.99990816e-01 -4.23671378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.538623853000004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:38.31, Y:2.84, Z:-0.04 [[ 9.87314453e-01 -1.58720900e-01 -4.22459845e-03 3.83135486e+01] [ 1.58719263e-01 9.87323490e-01 -7.22119870e-04 2.84289206e+00] [ 4.28566081e-03 4.24342300e-05 9.99990816e-01 -4.24544795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568623853000005 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:38.34, Y:2.85, Z:-0.04 [[ 9.87381421e-01 -1.58303764e-01 -4.22453877e-03 3.83411652e+01] [ 1.58302122e-01 9.87390458e-01 -7.22468882e-04 2.84846222e+00] [ 4.28563881e-03 4.45988999e-05 9.99990816e-01 -3.85784855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.598623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:38.37, Y:2.85, Z:-0.04 [[ 9.87340511e-01 -1.58558727e-01 -4.22440203e-03 3.83685261e+01] [ 1.58557083e-01 9.87349547e-01 -7.23267526e-04 2.85300945e+00] [ 4.28564181e-03 4.43024650e-05 9.99990816e-01 -4.22846119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:38.39, Y:2.86, Z:-0.04 [[ 9.87243031e-01 -1.59164549e-01 -4.22426103e-03 3.83947588e+01] [ 1.59162907e-01 9.87252067e-01 -7.24090103e-04 2.85735652e+00] [ 4.28565991e-03 4.25072414e-05 9.99990816e-01 -4.42161768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.658623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:38.42, Y:2.86, Z:-0.04 [[ 9.87155521e-01 -1.59706398e-01 -4.22419970e-03 3.84222258e+01] [ 1.59704760e-01 9.87164558e-01 -7.24447693e-04 2.86177463e+00] [ 4.28567916e-03 4.05177400e-05 9.99990816e-01 -4.47327737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.688623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:38.45, Y:2.87, Z:-0.05 [[ 9.87085319e-01 -1.60139720e-01 -4.22406552e-03 3.84485089e+01] [ 1.60138083e-01 9.87094356e-01 -7.25229212e-04 2.86553299e+00] [ 4.28568924e-03 3.94293550e-05 9.99990816e-01 -4.71729173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.718623853000004 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:38.48, Y:2.87, Z:-0.04 [[ 9.86885893e-01 -1.61364158e-01 -4.22400712e-03 3.84761451e+01] [ 1.61362531e-01 9.86894932e-01 -7.25569196e-04 2.86903955e+00] [ 4.28573209e-03 3.44575250e-05 9.99990816e-01 -4.28302534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748623853000005 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:38.50, Y:2.87, Z:-0.04 [[ 9.86806699e-01 -1.61847758e-01 -4.22386847e-03 3.85033672e+01] [ 1.61846132e-01 9.86815739e-01 -7.26375478e-04 2.87322968e+00] [ 4.28574213e-03 3.31754161e-05 9.99990816e-01 -4.29531696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.778623853000006 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:38.53, Y:2.88, Z:-0.04 [[ 9.86696599e-01 -1.62517631e-01 -4.22382535e-03 3.85319726e+01] [ 1.62516010e-01 9.86705639e-01 -7.26626096e-04 2.87743865e+00] [ 4.28576185e-03 3.05202552e-05 9.99990816e-01 -3.95540920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:38.56, Y:2.88, Z:-0.04 [[ 9.86713948e-01 -1.62412271e-01 -4.22370392e-03 3.85593644e+01] [ 1.62410645e-01 9.86722987e-01 -7.27331298e-04 2.88156769e+00] [ 4.28575327e-03 3.16934578e-05 9.99990816e-01 -3.80081173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.838623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:38.59, Y:2.89, Z:-0.04 [[ 9.86727948e-01 -1.62327195e-01 -4.22366072e-03 3.85864445e+01] [ 1.62325567e-01 9.86736987e-01 -7.27582047e-04 2.88574803e+00] [ 4.28574861e-03 3.23174170e-05 9.99990816e-01 -3.68564143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.868623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:38.61, Y:2.89, Z:-0.03 [[ 9.86902852e-01 -1.61260416e-01 -4.22359908e-03 3.86139989e+01] [ 1.61258777e-01 9.86911889e-01 -7.27939684e-04 2.88885481e+00] [ 4.28570801e-03 3.73133261e-05 9.99990816e-01 -3.47440351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.898623853000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:38.64, Y:2.89, Z:-0.04 [[ 9.87019854e-01 -1.60542739e-01 -4.22345778e-03 3.86412376e+01] [ 1.60541090e-01 9.87028889e-01 -7.28758577e-04 2.89262202e+00] [ 4.28567174e-03 4.12606664e-05 9.99990816e-01 -3.56605357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928623853000005 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:38.67, Y:2.90, Z:-0.04 [[ 9.87187570e-01 -1.59508198e-01 -4.22339653e-03 3.86677288e+01] [ 1.59506538e-01 9.87196603e-01 -7.29113375e-04 2.89650132e+00] [ 4.28562227e-03 4.61122997e-05 9.99990816e-01 -3.71247057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.958623853000006 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:38.70, Y:2.90, Z:-0.03 [[ 9.87387818e-01 -1.58263895e-01 -4.22333833e-03 3.86951494e+01] [ 1.58262222e-01 9.87396849e-01 -7.29450344e-04 2.90143385e+00] [ 4.28555661e-03 5.18554750e-05 9.99990816e-01 -3.23182301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:38.72, Y:2.91, Z:-0.03 [[ 9.87791664e-01 -1.55723448e-01 -4.22320106e-03 3.87226368e+01] [ 1.55721749e-01 9.87800690e-01 -7.30244198e-04 2.90703694e+00] [ 4.28539707e-03 6.36848781e-05 9.99990816e-01 -3.17028267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.018623853 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:38.75, Y:2.91, Z:-0.03 [[ 9.88009658e-01 -1.54334320e-01 -4.22305738e-03 3.87494524e+01] [ 1.54332604e-01 9.88018680e-01 -7.31074212e-04 2.91181925e+00] [ 4.28528942e-03 7.05529388e-05 9.99990816e-01 -3.32373726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.048623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:38.78, Y:2.92, Z:-0.04 [[ 9.88166320e-01 -1.53328047e-01 -4.22299486e-03 3.87768867e+01] [ 1.53326321e-01 9.88175341e-01 -7.31435162e-04 2.91677611e+00] [ 4.28520891e-03 7.52833273e-05 9.99990816e-01 -3.82211946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.078623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:38.80, Y:2.92, Z:-0.04 [[ 9.88606557e-01 -1.50463425e-01 -4.22285847e-03 3.88041731e+01] [ 1.50461669e-01 9.88615572e-01 -7.32221762e-04 2.92165294e+00] [ 4.28495623e-03 8.85009021e-05 9.99990816e-01 -3.74848545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108623853000005 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:38.83, Y:2.93, Z:-0.04 [[ 9.88788655e-01 -1.49262067e-01 -4.22271652e-03 3.88312299e+01] [ 1.49260297e-01 9.88797667e-01 -7.33039477e-04 2.92684867e+00] [ 4.28482723e-03 9.45371958e-05 9.99990816e-01 -3.70531238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.138623853000006 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:38.86, Y:2.93, Z:-0.04 [[ 9.89156194e-01 -1.46806655e-01 -4.22267250e-03 3.88581483e+01] [ 1.46804861e-01 9.89165201e-01 -7.33292926e-04 2.93313648e+00] [ 4.28457298e-03 1.05432389e-04 9.99990816e-01 -3.58479554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:38.88, Y:2.94, Z:-0.04 [[ 9.89290231e-01 -1.45900681e-01 -4.22262908e-03 3.88841611e+01] [ 1.45898878e-01 9.89299237e-01 -7.33542863e-04 2.93869558e+00] [ 4.28446813e-03 1.09609943e-04 9.99990816e-01 -3.55276732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.198623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:38.91, Y:2.94, Z:-0.04 [[ 9.89396097e-01 -1.45181034e-01 -4.22253480e-03 3.89120527e+01] [ 1.45179222e-01 9.89405101e-01 -7.34085175e-04 2.94436726e+00] [ 4.28437272e-03 1.13276689e-04 9.99990816e-01 -3.50273749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.228623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:38.94, Y:2.95, Z:-0.04 [[ 9.89534126e-01 -1.44237255e-01 -4.22239642e-03 3.89388258e+01] [ 1.44235431e-01 9.89543127e-01 -7.34880305e-04 2.94986666e+00] [ 4.28424047e-03 1.18169973e-04 9.99990816e-01 -3.50647460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.258623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:38.97, Y:2.96, Z:-0.04 [[ 9.89553360e-01 -1.44105239e-01 -4.22233650e-03 3.89658001e+01] [ 1.44103413e-01 9.89562361e-01 -7.35224386e-04 2.95596017e+00] [ 4.28421496e-03 1.19090660e-04 9.99990816e-01 -3.56131270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288623853000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:38.99, Y:2.96, Z:-0.04 [[ 9.89561074e-01 -1.44052260e-01 -4.22220035e-03 3.89930523e+01] [ 1.44050430e-01 9.89570074e-01 -7.36005433e-04 2.96232939e+00] [ 4.28418636e-03 1.20112550e-04 9.99990816e-01 -3.57763704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.318623853000005 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:39.02, Y:2.97, Z:-0.04 [[ 9.89557907e-01 -1.44074018e-01 -4.22206432e-03 3.90194730e+01] [ 1.44072184e-01 9.89566907e-01 -7.36784952e-04 2.96839935e+00] [ 4.28416670e-03 1.20809347e-04 9.99990816e-01 -3.61205450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.05, Y:2.98, Z:-0.03 [[ 9.89531564e-01 -1.44254842e-01 -4.22200523e-03 3.90463308e+01] [ 1.44253009e-01 9.89540563e-01 -7.37123401e-04 2.97617877e+00] [ 4.28417905e-03 1.20369916e-04 9.99990816e-01 -3.43049633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.378623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:39.07, Y:2.98, Z:-0.04 [[ 9.89517248e-01 -1.44353014e-01 -4.22186328e-03 3.90726114e+01] [ 1.44351178e-01 9.89526247e-01 -7.37935494e-04 2.98299068e+00] [ 4.28416774e-03 1.20768960e-04 9.99990816e-01 -3.51092373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.408623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:39.10, Y:2.99, Z:-0.03 [[ 9.89525591e-01 -1.44295808e-01 -4.22180134e-03 3.90997785e+01] [ 1.44293970e-01 9.89534590e-01 -7.38289734e-04 2.98940441e+00] [ 4.28415057e-03 1.21376108e-04 9.99990816e-01 -3.48109948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.438623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:39.13, Y:3.00, Z:-0.03 [[ 9.89562997e-01 -1.44039065e-01 -4.22166560e-03 3.91253883e+01] [ 1.44037222e-01 9.89571995e-01 -7.39065078e-04 2.99734380e+00] [ 4.28409629e-03 1.23274467e-04 9.99990816e-01 -3.41227366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468623853000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:39.15, Y:3.00, Z:-0.03 [[ 9.89572421e-01 -1.43974310e-01 -4.22160674e-03 3.91525183e+01] [ 1.43972464e-01 9.89581418e-01 -7.39401143e-04 3.00436050e+00] [ 4.28407835e-03 1.23895853e-04 9.99990816e-01 -3.29801334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.498623853000005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.18, Y:3.01, Z:-0.03 [[ 9.89543411e-01 -1.44173568e-01 -4.22147008e-03 3.91799409e+01] [ 1.44171721e-01 9.89552407e-01 -7.40180552e-04 3.01175958e+00] [ 4.28408035e-03 1.23824181e-04 9.99990816e-01 -3.21053745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528623853000006 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.21, Y:3.02, Z:-0.03 [[ 9.89516190e-01 -1.44360277e-01 -4.22133027e-03 3.92079757e+01] [ 1.44358428e-01 9.89525187e-01 -7.40977045e-04 3.01686436e+00] [ 4.28408028e-03 1.23824179e-04 9.99990816e-01 -3.19833009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.558623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:39.23, Y:3.03, Z:-0.03 [[ 9.89405766e-01 -1.45115168e-01 -4.22119031e-03 3.92348387e+01] [ 1.45113323e-01 9.89414763e-01 -7.41773513e-04 3.02630894e+00] [ 4.28415060e-03 1.21364038e-04 9.99990816e-01 -3.18333634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.588623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:39.26, Y:3.03, Z:-0.03 [[ 9.89262879e-01 -1.46086061e-01 -4.22114685e-03 3.92620559e+01] [ 1.46084224e-01 9.89271878e-01 -7.42020748e-04 3.03367602e+00] [ 4.28426076e-03 1.17410621e-04 9.99990816e-01 -3.09781690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.618623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:39.29, Y:3.04, Z:-0.03 [[ 9.89134784e-01 -1.46950881e-01 -4.22100443e-03 3.92877230e+01] [ 1.46949048e-01 9.89143784e-01 -7.42830037e-04 3.04078149e+00] [ 4.28433982e-03 1.14486446e-04 9.99990816e-01 -3.09600721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648623853000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.31, Y:3.05, Z:-0.03 [[ 9.88839773e-01 -1.48923093e-01 -4.22094249e-03 3.93136870e+01] [ 1.48921276e-01 9.88848776e-01 -7.43181826e-04 3.05113824e+00] [ 4.28455075e-03 1.06299604e-04 9.99990816e-01 -3.12216262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.678623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:39.34, Y:3.06, Z:-0.03 [[ 9.88671346e-01 -1.50037177e-01 -4.22088231e-03 3.93411828e+01] [ 1.50035369e-01 9.88680350e-01 -7.43523450e-04 3.05915641e+00] [ 4.28465956e-03 1.01818696e-04 9.99990816e-01 -3.13333872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708623853000006 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:39.37, Y:3.07, Z:-0.03 [[ 9.88465978e-01 -1.51384266e-01 -4.22074379e-03 3.93683648e+01] [ 1.51382467e-01 9.88474984e-01 -7.44308958e-04 3.06734402e+00] [ 4.28477632e-03 9.67774759e-05 9.99990816e-01 -3.18358171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.738623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.39, Y:3.08, Z:-0.03 [[ 9.88021726e-01 -1.54257107e-01 -4.22060337e-03 3.93944217e+01] [ 1.54255331e-01 9.88030737e-01 -7.45104335e-04 3.07693557e+00] [ 4.28502350e-03 8.51287022e-05 9.99990816e-01 -3.35048266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.768623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:39.42, Y:3.08, Z:-0.03 [[ 9.87738506e-01 -1.56060347e-01 -4.22050761e-03 3.94206910e+01] [ 1.56058585e-01 9.87747519e-01 -7.45646386e-04 3.08424175e+00] [ 4.28516175e-03 7.78572021e-05 9.99990816e-01 -3.39410659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.798623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:39.45, Y:3.09, Z:-0.03 [[ 9.87386361e-01 -1.58273062e-01 -4.22044730e-03 3.94482578e+01] [ 1.58271319e-01 9.87395378e-01 -7.45987581e-04 3.09161948e+00] [ 4.28531990e-03 6.86022038e-05 9.99990816e-01 -3.41572796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828623853 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:39.47, Y:3.10, Z:-0.04 [[ 9.87064981e-01 -1.60265133e-01 -4.22030722e-03 3.94741954e+01] [ 1.60263404e-01 9.87074001e-01 -7.46779210e-04 3.09880075e+00] [ 4.28543821e-03 6.07588032e-05 9.99990816e-01 -3.53669435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.858623853000005 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:39.50, Y:3.11, Z:-0.04 [[ 9.86309438e-01 -1.64851091e-01 -4.22024619e-03 3.95012289e+01] [ 1.64849403e-01 9.86318466e-01 -7.47123945e-04 3.10858676e+00] [ 4.28567095e-03 4.11903315e-05 9.99990816e-01 -3.50910148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888623853000006 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:39.53, Y:3.12, Z:-0.04 [[ 9.85868490e-01 -1.67467942e-01 -4.22010136e-03 3.95271990e+01] [ 1.67466275e-01 9.85877521e-01 -7.47941153e-04 3.11549376e+00] [ 4.28575923e-03 3.06469610e-05 9.99990816e-01 -3.63495357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.918623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.55, Y:3.12, Z:-0.04 [[ 9.84918776e-01 -1.72965884e-01 -4.22000266e-03 3.95538008e+01] [ 1.72964265e-01 9.84927816e-01 -7.48497579e-04 3.12366184e+00] [ 4.28586255e-03 7.29966078e-06 9.99990816e-01 -3.56090125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:39.58, Y:3.13, Z:-0.03 [[ 9.84443211e-01 -1.75652371e-01 -4.21995907e-03 3.95809446e+01] [ 1.75650775e-01 9.84452256e-01 -7.48743273e-04 3.12966198e+00] [ 4.28586676e-03 -4.14384879e-06 9.99990816e-01 -3.33991315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.978623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:39.61, Y:3.14, Z:-0.03 [[ 9.83985001e-01 -1.78201321e-01 -4.21981478e-03 3.96082548e+01] [ 1.78199746e-01 9.83994049e-01 -7.49555582e-04 3.13542859e+00] [ 4.28584443e-03 -1.44184708e-05 9.99990816e-01 -3.39339469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008623853 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:39.64, Y:3.14, Z:-0.03 [[ 9.83135983e-01 -1.82827330e-01 -4.21967089e-03 3.96356343e+01] [ 1.82825793e-01 9.83145038e-01 -7.50364751e-04 3.14265318e+00] [ 4.28573568e-03 -3.37540907e-05 9.99990816e-01 -3.43154353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.038623853000004 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:39.66, Y:3.15, Z:-0.04 [[ 9.82802939e-01 -1.84609259e-01 -4.21952007e-03 3.96620534e+01] [ 1.84607735e-01 9.82811996e-01 -7.51211900e-04 3.14815542e+00] [ 4.28567562e-03 -4.06627786e-05 9.99990816e-01 -3.57060441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068623853000005 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:39.69, Y:3.15, Z:-0.04 [[ 9.82315032e-01 -1.87188071e-01 -4.21945440e-03 3.96892379e+01] [ 1.87186569e-01 9.82324093e-01 -7.51580563e-04 3.15424684e+00] [ 4.28555864e-03 -5.15363095e-05 9.99990816e-01 -3.65214611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.098623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:39.72, Y:3.16, Z:-0.04 [[ 9.82178906e-01 -1.87901022e-01 -4.21931221e-03 3.97158731e+01] [ 1.87899523e-01 9.82187967e-01 -7.52377981e-04 3.15945095e+00] [ 4.28553027e-03 -5.38369693e-05 9.99990816e-01 -3.77817499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:39.74, Y:3.17, Z:-0.04 [[ 9.82056465e-01 -1.88539912e-01 -4.21921520e-03 3.97428269e+01] [ 1.88538417e-01 9.82065527e-01 -7.52921631e-04 3.16515178e+00] [ 4.28550157e-03 -5.60725966e-05 9.99990816e-01 -3.67152747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.158623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:39.77, Y:3.17, Z:-0.04 [[ 9.82068677e-01 -1.88476294e-01 -4.21906846e-03 3.97701454e+01] [ 1.88474795e-01 9.82077738e-01 -7.53742994e-04 3.17051735e+00] [ 4.28551589e-03 -5.49606785e-05 9.99990816e-01 -3.67384859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.188623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:39.80, Y:3.18, Z:-0.03 [[ 9.82210674e-01 -1.87734897e-01 -4.21902283e-03 3.97985499e+01] [ 1.87733390e-01 9.82219734e-01 -7.53998332e-04 3.17677544e+00] [ 4.28555928e-03 -5.14662494e-05 9.99990816e-01 -3.46578109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.218623853000004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:39.83, Y:3.18, Z:-0.03 [[ 9.82320765e-01 -1.87157996e-01 -4.21889920e-03 3.98255679e+01] [ 1.87156481e-01 9.82329824e-01 -7.54689404e-04 3.18218428e+00] [ 4.28559667e-03 -4.82472551e-05 9.99990816e-01 -3.27238610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248623853000005 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:39.85, Y:3.19, Z:-0.03 [[ 9.82491880e-01 -1.86257641e-01 -4.21875104e-03 3.98527429e+01] [ 1.86256113e-01 9.82500936e-01 -7.55516717e-04 3.18700296e+00] [ 4.28564761e-03 -4.34791345e-05 9.99990816e-01 -3.28131591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.278623853000006 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:39.88, Y:3.19, Z:-0.03 [[ 9.82670906e-01 -1.85310803e-01 -4.21870501e-03 3.98803323e+01] [ 1.85309266e-01 9.82679960e-01 -7.55773698e-04 3.19122007e+00] [ 4.28568990e-03 -3.90883047e-05 9.99990816e-01 -3.28571321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:39.91, Y:3.20, Z:-0.03 [[ 9.82745697e-01 -1.84913762e-01 -4.21855853e-03 3.99071733e+01] [ 1.84912218e-01 9.82754750e-01 -7.56590407e-04 3.19561492e+00] [ 4.28571242e-03 -3.65270474e-05 9.99990816e-01 -3.36474846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.338623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:39.93, Y:3.20, Z:-0.03 [[ 9.82876519e-01 -1.84217136e-01 -4.21849459e-03 3.99341313e+01] [ 1.84215584e-01 9.82885571e-01 -7.56946753e-04 3.19993772e+00] [ 4.28574003e-03 -3.31272545e-05 9.99990816e-01 -3.47392963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.368623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:39.96, Y:3.20, Z:-0.03 [[ 9.82945952e-01 -1.83846297e-01 -4.21843286e-03 3.99615182e+01] [ 1.83844740e-01 9.82955003e-01 -7.57290610e-04 3.20433401e+00] [ 4.28575476e-03 -3.11609550e-05 9.99990816e-01 -3.47471433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.398623853000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:39.99, Y:3.21, Z:-0.03 [[ 9.83034023e-01 -1.83374796e-01 -4.21829213e-03 3.99888650e+01] [ 1.83373231e-01 9.83043073e-01 -7.58073701e-04 3.20866337e+00] [ 4.28577447e-03 -2.83096184e-05 9.99990816e-01 -3.45020928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428623853000005 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:40.02, Y:3.21, Z:-0.03 [[ 9.83160403e-01 -1.82696003e-01 -4.21815063e-03 4.00165762e+01] [ 1.82694429e-01 9.83169451e-01 -7.58860253e-04 3.21185054e+00] [ 4.28579757e-03 -2.45512694e-05 9.99990816e-01 -3.47407011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.458623853000006 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:40.04, Y:3.22, Z:-0.03 [[ 9.83148947e-01 -1.82757642e-01 -4.21800925e-03 4.00443868e+01] [ 1.82756065e-01 9.83157995e-01 -7.59645251e-04 3.21575200e+00] [ 4.28580050e-03 -2.40223431e-05 9.99990816e-01 -3.38434008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:40.07, Y:3.22, Z:-0.03 [[ 9.83186055e-01 -1.82557908e-01 -4.21786478e-03 4.00724347e+01] [ 1.82556326e-01 9.83195103e-01 -7.60446602e-04 3.22004748e+00] [ 4.28580953e-03 -2.23374017e-05 9.99990816e-01 -2.89934071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.518623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:40.10, Y:3.22, Z:-0.03 [[ 9.83231902e-01 -1.82310827e-01 -4.21771991e-03 4.00999835e+01] [ 1.82309238e-01 9.83240948e-01 -7.61249248e-04 3.22345415e+00] [ 4.28581890e-03 -2.04447581e-05 9.99990816e-01 -3.34429853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.548623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:40.13, Y:3.23, Z:-0.03 [[ 9.83448962e-01 -1.81136277e-01 -4.21757492e-03 4.01266209e+01] [ 1.81134675e-01 9.83458006e-01 -7.62051672e-04 3.22631190e+00] [ 4.28584302e-03 -1.45101364e-05 9.99990816e-01 -3.28621080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.578623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:40.15, Y:3.23, Z:-0.03 [[ 9.83599253e-01 -1.80318391e-01 -4.21751197e-03 4.01538810e+01] [ 1.80316779e-01 9.83608295e-01 -7.62399909e-04 3.23015819e+00] [ 4.28585448e-03 -1.05921942e-05 9.99990816e-01 -3.28135026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608623853000005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:40.18, Y:3.23, Z:-0.03 [[ 9.83803733e-01 -1.79199411e-01 -4.21736760e-03 4.01816094e+01] [ 1.79197786e-01 9.83812772e-01 -7.63197679e-04 3.23403909e+00] [ 4.28586469e-03 -4.90621265e-06 9.99990816e-01 -3.23685574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.638623853000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:40.21, Y:3.24, Z:-0.03 [[ 9.84415604e-01 -1.75807095e-01 -4.21722198e-03 4.02082897e+01] [ 1.75805435e-01 9.84424637e-01 -7.64001497e-04 3.23665370e+00] [ 4.28585410e-03 1.06844503e-05 9.99990816e-01 -3.32843072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:40.24, Y:3.24, Z:-0.03 [[ 9.84741107e-01 -1.73974620e-01 -4.21715881e-03 4.02355254e+01] [ 1.73972942e-01 9.84750137e-01 -7.64350019e-04 3.24064921e+00] [ 4.28582522e-03 1.90153601e-05 9.99990816e-01 -3.32739847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.698623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.26, Y:3.24, Z:-0.03 [[ 9.85442136e-01 -1.69958859e-01 -4.21701386e-03 4.02639418e+01] [ 1.69957141e-01 9.85451158e-01 -7.65148901e-04 3.24324680e+00] [ 4.28570503e-03 3.72983478e-05 9.99990816e-01 -3.42769423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.728623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.29, Y:3.25, Z:-0.03 [[ 9.85830336e-01 -1.67692475e-01 -4.21686669e-03 4.02914799e+01] [ 1.67690732e-01 9.85839354e-01 -7.65959152e-04 3.24750766e+00] [ 4.28559871e-03 4.79763064e-05 9.99990816e-01 -3.43420561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.758623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:40.32, Y:3.25, Z:-0.03 [[ 9.86264237e-01 -1.65121389e-01 -4.21671662e-03 4.03184028e+01] [ 1.65119620e-01 9.86273250e-01 -7.66784378e-04 3.25286138e+00] [ 4.28544731e-03 5.99893647e-05 9.99990816e-01 -3.13517533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788623853000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:40.35, Y:3.26, Z:-0.03 [[ 9.87059140e-01 -1.60301199e-01 -4.21665152e-03 4.03470193e+01] [ 1.60299384e-01 9.87068143e-01 -7.67142219e-04 3.25894435e+00] [ 4.28509620e-03 8.12880990e-05 9.99990816e-01 -3.39660049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.818623853000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:40.37, Y:3.26, Z:-0.03 [[ 9.87380827e-01 -1.58307686e-01 -4.21652511e-03 4.03742591e+01] [ 1.58305849e-01 9.87389826e-01 -7.67836420e-04 3.26487259e+00] [ 4.28490840e-03 9.06463712e-05 9.99990816e-01 -3.29581124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:40.40, Y:3.27, Z:-0.03 [[ 9.87689394e-01 -1.56370980e-01 -4.21637760e-03 4.04011539e+01] [ 1.56369123e-01 9.87698389e-01 -7.68645563e-04 3.27055387e+00] [ 4.28470322e-03 9.98718045e-05 9.99990816e-01 -3.32585607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.878623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.43, Y:3.28, Z:-0.03 [[ 9.87934364e-01 -1.54815744e-01 -4.21627693e-03 4.04287093e+01] [ 1.54813871e-01 9.87943356e-01 -7.69197362e-04 3.27659681e+00] [ 4.28452664e-03 1.07178356e-04 9.99990816e-01 -3.18942574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.908623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.45, Y:3.28, Z:-0.03 [[ 9.88385128e-01 -1.51911367e-01 -4.21612640e-03 4.04549911e+01] [ 1.51909463e-01 9.88394113e-01 -7.70021561e-04 3.28333277e+00] [ 4.28416954e-03 1.20608361e-04 9.99990816e-01 -3.29672739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.938623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:40.48, Y:3.29, Z:-0.03 [[ 9.88516712e-01 -1.51052756e-01 -4.21602412e-03 4.04821531e+01] [ 1.51050842e-01 9.88525695e-01 -7.70581190e-04 3.28926819e+00] [ 4.28404658e-03 1.24898392e-04 9.99990816e-01 -3.24119196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968623853000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:40.51, Y:3.30, Z:-0.03 [[ 9.88609598e-01 -1.50443640e-01 -4.21588020e-03 4.05091800e+01] [ 1.50441717e-01 9.88618579e-01 -7.71367761e-04 3.29559839e+00] [ 4.28394487e-03 1.28337316e-04 9.99990816e-01 -3.17559914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.998623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:40.54, Y:3.31, Z:-0.03 [[ 9.88745323e-01 -1.49549038e-01 -4.21573416e-03 4.05358234e+01] [ 1.49547104e-01 9.88754301e-01 -7.72165090e-04 3.30512761e+00] [ 4.28380183e-03 1.33023789e-04 9.99990816e-01 -3.08326434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028623853000006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:40.56, Y:3.31, Z:-0.03 [[ 9.88697540e-01 -1.49864616e-01 -4.21568875e-03 4.05620289e+01] [ 1.49862684e-01 9.88706518e-01 -7.72412893e-04 3.31178216e+00] [ 4.28383631e-03 1.31908296e-04 9.99990816e-01 -3.07049134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.058623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:40.59, Y:3.32, Z:-0.03 [[ 9.88522386e-01 -1.51015634e-01 -4.21562621e-03 4.05894352e+01] [ 1.51013710e-01 9.88531366e-01 -7.72754115e-04 3.31871400e+00] [ 4.28397669e-03 1.27267386e-04 9.99990816e-01 -3.16891290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.088623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:40.62, Y:3.33, Z:-0.03 [[ 9.87988288e-01 -1.54471266e-01 -4.21548168e-03 4.06152782e+01] [ 1.54469371e-01 9.87997275e-01 -7.73541700e-04 3.32675177e+00] [ 4.28437438e-03 1.13087337e-04 9.99990816e-01 -3.29648813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.118623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:40.64, Y:3.33, Z:-0.03 [[ 9.87600388e-01 -1.56932163e-01 -4.21538291e-03 4.06421279e+01] [ 1.56930288e-01 9.87609379e-01 -7.74079604e-04 3.33310536e+00] [ 4.28462968e-03 1.02960065e-04 9.99990816e-01 -3.31649307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148623853000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:40.67, Y:3.34, Z:-0.03 [[ 9.87152276e-01 -1.59726691e-01 -4.21523985e-03 4.06693940e+01] [ 1.59724838e-01 9.87161271e-01 -7.74857863e-04 3.33905739e+00] [ 4.28488701e-03 9.16242016e-05 9.99990816e-01 -3.28182564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.178623853000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:40.70, Y:3.35, Z:-0.03 [[ 9.86325710e-01 -1.64753838e-01 -4.21509428e-03 4.06967568e+01] [ 1.64752027e-01 9.86334714e-01 -7.75648904e-04 3.34608947e+00] [ 4.28528495e-03 7.05971275e-05 9.99990816e-01 -3.23247655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.72, Y:3.35, Z:-0.03 [[ 9.85964497e-01 -1.66901903e-01 -4.21494669e-03 4.07227191e+01] [ 1.66900108e-01 9.85973504e-01 -7.76450101e-04 3.35217420e+00] [ 4.28541676e-03 6.20771737e-05 9.99990816e-01 -3.22676648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.238623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:40.75, Y:3.36, Z:-0.03 [[ 9.85642472e-01 -1.68793222e-01 -4.21488257e-03 4.07499120e+01] [ 1.68791443e-01 9.85651483e-01 -7.76798001e-04 3.35853536e+00] [ 4.28552349e-03 5.42089909e-05 9.99990816e-01 -3.14121700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.268623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:40.78, Y:3.37, Z:-0.03 [[ 9.85171519e-01 -1.71520594e-01 -4.21474088e-03 4.07771961e+01] [ 1.71518837e-01 9.85180534e-01 -7.77566012e-04 3.36618166e+00] [ 4.28564926e-03 4.31284331e-05 9.99990816e-01 -2.94501284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.298623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:40.80, Y:3.37, Z:-0.03 [[ 9.85008447e-01 -1.72454621e-01 -4.21469670e-03 4.08036754e+01] [ 1.72452871e-01 9.85017463e-01 -7.77805451e-04 3.37273541e+00] [ 4.28568599e-03 3.93083931e-05 9.99990816e-01 -2.89612967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.83, Y:3.38, Z:-0.03 [[ 9.84842098e-01 -1.73402075e-01 -4.21463553e-03 4.08309426e+01] [ 1.73400333e-01 9.84851115e-01 -7.78136732e-04 3.37928065e+00] [ 4.28571903e-03 3.55226089e-05 9.99990816e-01 -2.84989689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.358623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.86, Y:3.39, Z:-0.03 [[ 9.84606358e-01 -1.74735678e-01 -4.21449529e-03 4.08581921e+01] [ 1.74733945e-01 9.84615378e-01 -7.78895576e-04 3.38532255e+00] [ 4.28575772e-03 3.04901485e-05 9.99990816e-01 -2.87601705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.88, Y:3.39, Z:-0.03 [[ 9.84505617e-01 -1.75302395e-01 -4.21435024e-03 4.08844072e+01] [ 1.75300664e-01 9.84514636e-01 -7.79679581e-04 3.39135010e+00] [ 4.28576920e-03 2.88205317e-05 9.99990816e-01 -2.86481387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.418623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.91, Y:3.40, Z:-0.03 [[ 9.84473315e-01 -1.75483711e-01 -4.21428722e-03 4.09123788e+01] [ 1.75481980e-01 9.84482334e-01 -7.80020070e-04 3.39673069e+00] [ 4.28577214e-03 2.83774794e-05 9.99990816e-01 -2.85260625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:40.94, Y:3.40, Z:-0.03 [[ 9.84370377e-01 -1.76060224e-01 -4.21414342e-03 4.09382345e+01] [ 1.76058494e-01 9.84379397e-01 -7.80796199e-04 3.40333396e+00] [ 4.28578311e-03 2.66569031e-05 9.99990816e-01 -2.82045042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.478623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.96, Y:3.41, Z:-0.03 [[ 9.84076395e-01 -1.77696063e-01 -4.21408090e-03 4.09640172e+01] [ 1.77694348e-01 9.84085417e-01 -7.81133514e-04 3.41027189e+00] [ 4.28581991e-03 1.98766972e-05 9.99990816e-01 -2.90417076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.99, Y:3.42, Z:-0.03 [[ 9.83929229e-01 -1.78509144e-01 -4.21398502e-03 4.09913049e+01] [ 1.78507434e-01 9.83938253e-01 -7.81650417e-04 3.41577260e+00] [ 4.28583280e-03 1.68610416e-05 9.99990816e-01 -2.82709580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.538623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.02, Y:3.42, Z:-0.03 [[ 9.83833351e-01 -1.79036816e-01 -4.21383738e-03 4.10189154e+01] [ 1.79035107e-01 9.83842375e-01 -7.82445496e-04 3.42133054e+00] [ 4.28583833e-03 1.53711471e-05 9.99990816e-01 -2.72360661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.05, Y:3.43, Z:-0.03 [[ 9.83899283e-01 -1.78674132e-01 -4.21368349e-03 4.10455599e+01] [ 1.78672416e-01 9.83908306e-01 -7.83273365e-04 3.42773372e+00] [ 4.28582887e-03 1.77930924e-05 9.99990816e-01 -2.65057877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.598623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.07, Y:3.43, Z:-0.03 [[ 9.83959840e-01 -1.78340344e-01 -4.21363575e-03 4.10733377e+01] [ 1.78338624e-01 9.83968862e-01 -7.83530112e-04 3.43389595e+00] [ 4.28582140e-03 1.95081615e-05 9.99990816e-01 -2.57307323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:41.10, Y:3.44, Z:-0.02 [[ 9.84205410e-01 -1.76980107e-01 -4.21348481e-03 4.10992096e+01] [ 1.76978371e-01 9.84214428e-01 -7.84340928e-04 3.44179810e+00] [ 4.28578529e-03 2.62569058e-05 9.99990816e-01 -2.22710413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:3.45, Z:-0.03 [[ 9.84357524e-01 -1.76132088e-01 -4.21338218e-03 4.11266404e+01] [ 1.76130342e-01 9.84366541e-01 -7.84891894e-04 3.44854780e+00] [ 4.28575709e-03 3.05097966e-05 9.99990816e-01 -2.52116802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.15, Y:3.46, Z:-0.02 [[ 9.84542445e-01 -1.75095467e-01 -4.21323252e-03 4.11537738e+01] [ 1.75093707e-01 9.84551459e-01 -7.85694415e-04 3.45570726e+00] [ 4.28571576e-03 3.58389981e-05 9.99990816e-01 -2.46150384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.718623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.18, Y:3.46, Z:-0.02 [[ 9.84726132e-01 -1.74059459e-01 -4.21307673e-03 4.11804296e+01] [ 1.74057687e-01 9.84735144e-01 -7.86528923e-04 3.46253346e+00] [ 4.28566752e-03 4.11971959e-05 9.99990816e-01 -2.46978100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748623853000005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:41.21, Y:3.47, Z:-0.02 [[ 9.84978223e-01 -1.72627200e-01 -4.21300895e-03 4.12069593e+01] [ 1.72625413e-01 9.84987232e-01 -7.86891833e-04 3.47062258e+00] [ 4.28559895e-03 4.77989096e-05 9.99990816e-01 -2.09545982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.778623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.23, Y:3.48, Z:-0.03 [[ 9.85026945e-01 -1.72348972e-01 -4.21296128e-03 4.12343861e+01] [ 1.72347181e-01 9.85035953e-01 -7.87146967e-04 3.47693181e+00] [ 4.28558230e-03 4.92689717e-05 9.99990816e-01 -2.66671737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.26, Y:3.48, Z:-0.03 [[ 9.85013493e-01 -1.72425839e-01 -4.21280883e-03 4.12615726e+01] [ 1.72424046e-01 9.85022501e-01 -7.87962009e-04 3.48404010e+00] [ 4.28557650e-03 4.97636680e-05 9.99990816e-01 -2.69228157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:3.49, Z:-0.03 [[ 9.84816492e-01 -1.73547486e-01 -4.21265452e-03 4.12887407e+01] [ 1.73545699e-01 9.84825501e-01 -7.88786158e-04 3.49259043e+00] [ 4.28562145e-03 4.57215425e-05 9.99990816e-01 -2.63295486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:3.50, Z:-0.03 [[ 9.84665248e-01 -1.74403568e-01 -4.21249764e-03 4.13148107e+01] [ 1.74401786e-01 9.84674258e-01 -7.89623071e-04 3.49870193e+00] [ 4.28565107e-03 4.28472855e-05 9.99990816e-01 -2.64035730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:3.51, Z:-0.02 [[ 9.84503874e-01 -1.75312229e-01 -4.21242938e-03 4.13416279e+01] [ 1.75310454e-01 9.84512885e-01 -7.89987063e-04 3.50503955e+00] [ 4.28568539e-03 3.92624182e-05 9.99990816e-01 -2.46503362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:3.51, Z:-0.02 [[ 9.84087382e-01 -1.77635251e-01 -4.21227288e-03 4.13682345e+01] [ 1.77633493e-01 9.84096396e-01 -7.90820624e-04 3.51307943e+00] [ 4.28576018e-03 2.99958523e-05 9.99990816e-01 -2.40336618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.958623853000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.39, Y:3.52, Z:-0.02 [[ 9.83828572e-01 -1.79063115e-01 -4.21222429e-03 4.13940336e+01] [ 1.79061369e-01 9.83837588e-01 -7.91079379e-04 3.51934692e+00] [ 4.28579772e-03 2.40398485e-05 9.99990816e-01 -2.35955486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.42, Y:3.53, Z:-0.02 [[ 9.83567326e-01 -1.80492586e-01 -4.21215782e-03 4.14209218e+01] [ 1.80490852e-01 9.83576345e-01 -7.91433132e-04 3.52563459e+00] [ 4.28582660e-03 1.81718175e-05 9.99990816e-01 -2.30920058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.018623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:41.45, Y:3.53, Z:-0.02 [[ 9.83041712e-01 -1.83333716e-01 -4.21200430e-03 4.14481394e+01] [ 1.83332004e-01 9.83050735e-01 -7.92249326e-04 3.53265819e+00] [ 4.28585994e-03 6.61894375e-06 9.99990816e-01 -2.02421899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:3.54, Z:-0.02 [[ 9.82771960e-01 -1.84774276e-01 -4.21195676e-03 4.14755224e+01] [ 1.84772577e-01 9.82780986e-01 -7.92501972e-04 3.53793009e+00] [ 4.28586500e-03 5.94612005e-07 9.99990816e-01 -2.41757552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:3.54, Z:-0.02 [[ 9.82539605e-01 -1.86005874e-01 -4.21179989e-03 4.15018187e+01] [ 1.86004182e-01 9.82548632e-01 -7.93334797e-04 3.54364565e+00] [ 4.28586315e-03 -3.92953535e-06 9.99990816e-01 -2.39623605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:3.55, Z:-0.02 [[ 9.82276558e-01 -1.87390033e-01 -4.21173165e-03 4.15290327e+01] [ 1.87388352e-01 9.82285588e-01 -7.93696915e-04 3.54963553e+00] [ 4.28585419e-03 -9.59957890e-06 9.99990816e-01 -2.34845549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.138623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.56, Y:3.56, Z:-0.02 [[ 9.81825386e-01 -1.89739752e-01 -4.21157621e-03 4.15555760e+01] [ 1.89738090e-01 9.81834419e-01 -7.94520853e-04 3.55583127e+00] [ 4.28582267e-03 -1.90156828e-05 9.99990816e-01 -2.35748084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:3.56, Z:-0.02 [[ 9.81649694e-01 -1.90646641e-01 -4.21150834e-03 4.15829659e+01] [ 1.90644985e-01 9.81658728e-01 -7.94880461e-04 3.56143637e+00] [ 4.28580521e-03 -2.26087833e-05 9.99990816e-01 -2.38555364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.61, Y:3.57, Z:-0.02 [[ 9.81427218e-01 -1.91788635e-01 -4.21135531e-03 4.16095360e+01] [ 1.91786987e-01 9.81436253e-01 -7.95690397e-04 3.56677065e+00] [ 4.28578115e-03 -2.67709325e-05 9.99990816e-01 -2.45393880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.228623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.64, Y:3.57, Z:-0.02 [[ 9.81301391e-01 -1.92431405e-01 -4.21128876e-03 4.16367774e+01] [ 1.92429761e-01 9.81310427e-01 -7.96042464e-04 3.57222000e+00] [ 4.28576514e-03 -2.92197132e-05 9.99990816e-01 -2.34909048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:3.58, Z:-0.02 [[ 9.81192474e-01 -1.92985996e-01 -4.21113397e-03 4.16637753e+01] [ 1.92984354e-01 9.81201511e-01 -7.96860482e-04 3.57699169e+00] [ 4.28575393e-03 -3.08094593e-05 9.99990816e-01 -2.36984923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.69, Y:3.58, Z:-0.02 [[ 9.81081021e-01 -1.93551797e-01 -4.21106671e-03 4.16913753e+01] [ 1.93550158e-01 9.81090057e-01 -7.97215773e-04 3.58164827e+00] [ 4.28573822e-03 -3.29193628e-05 9.99990816e-01 -2.39416557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.318623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.72, Y:3.59, Z:-0.02 [[ 9.80959593e-01 -1.94166282e-01 -4.21092662e-03 4.17191872e+01] [ 1.94164645e-01 9.80968630e-01 -7.97955046e-04 3.58644129e+00] [ 4.28572288e-03 -3.48514164e-05 9.99990816e-01 -2.22586900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:3.59, Z:-0.02 [[ 9.80946830e-01 -1.94230756e-01 -4.21077220e-03 4.17458128e+01] [ 1.94229117e-01 9.80955867e-01 -7.98769080e-04 3.59136966e+00] [ 4.28572721e-03 -3.43045675e-05 9.99990816e-01 -2.21001925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:3.60, Z:-0.02 [[ 9.80919342e-01 -1.94369530e-01 -4.21070540e-03 4.17730171e+01] [ 1.94367890e-01 9.80928379e-01 -7.99121075e-04 3.59642207e+00] [ 4.28572521e-03 -3.45526044e-05 9.99990816e-01 -2.09725762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:3.60, Z:-0.02 [[ 9.80929185e-01 -1.94319855e-01 -4.21055251e-03 4.17994098e+01] [ 1.94318212e-01 9.80938221e-01 -7.99925818e-04 3.60121466e+00] [ 4.28573336e-03 -3.35164541e-05 9.99990816e-01 -2.09599703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:3.61, Z:-0.02 [[ 9.81129809e-01 -1.93304348e-01 -4.21044809e-03 4.18261045e+01] [ 1.93302693e-01 9.81138842e-01 -8.00475041e-04 3.60568385e+00] [ 4.28576948e-03 -2.85210311e-05 9.99990816e-01 -2.06200103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:3.61, Z:-0.02 [[ 9.81225367e-01 -1.92818700e-01 -4.21038334e-03 4.18532739e+01] [ 1.92817039e-01 9.81234400e-01 -8.00815515e-04 3.61102528e+00] [ 4.28578517e-03 -2.60531506e-05 9.99990816e-01 -2.05616241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.498623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:3.62, Z:-0.02 [[ 9.81361532e-01 -1.92124486e-01 -4.21023442e-03 4.18806227e+01] [ 1.92122815e-01 9.81370563e-01 -8.01597677e-04 3.61634957e+00] [ 4.28580666e-03 -2.22249646e-05 9.99990816e-01 -2.05838281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:3.62, Z:-0.02 [[ 9.81655100e-01 -1.90618834e-01 -4.21008391e-03 4.19079095e+01] [ 1.90617146e-01 9.81664128e-01 -8.02387388e-04 3.62072111e+00] [ 4.28583850e-03 -1.48465073e-05 9.99990816e-01 -1.97316220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:3.63, Z:-0.02 [[ 9.81796502e-01 -1.89889191e-01 -4.20993320e-03 4.19346585e+01] [ 1.89887493e-01 9.81805528e-01 -8.03177330e-04 3.62561812e+00] [ 4.28585039e-03 -1.08569683e-05 9.99990816e-01 -1.87223767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:3.63, Z:-0.02 [[ 9.81921534e-01 -1.89241589e-01 -4.20986763e-03 4.19617672e+01] [ 1.89239883e-01 9.81930558e-01 -8.03520911e-04 3.63101405e+00] [ 4.28585724e-03 -7.68037162e-06 9.99990816e-01 -1.75274138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:3.64, Z:-0.02 [[ 9.82023365e-01 -1.88712450e-01 -4.20971616e-03 4.19894262e+01] [ 1.88710736e-01 9.82032388e-01 -8.04313654e-04 3.63620106e+00] [ 4.28586162e-03 -4.56383627e-06 9.99990816e-01 -1.66334103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.02, Y:3.64, Z:-0.02 [[ 9.82171158e-01 -1.87941737e-01 -4.20956023e-03 4.20161293e+01] [ 1.87940012e-01 9.82180179e-01 -8.05128959e-04 3.64029005e+00] [ 4.28586395e-03 -3.70358438e-07 9.99990816e-01 -1.75449153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.678623853000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.04, Y:3.64, Z:-0.01 [[ 9.82241413e-01 -1.87574216e-01 -4.20949233e-03 4.20434245e+01] [ 1.87572487e-01 9.82250433e-01 -8.05483790e-04 3.64493392e+00] [ 4.28586365e-03 1.59459182e-06 9.99990816e-01 -1.48422926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:3.65, Z:-0.02 [[ 9.82259411e-01 -1.87479944e-01 -4.20944428e-03 4.20708790e+01] [ 1.87478213e-01 9.82268431e-01 -8.05734833e-04 3.64914628e+00] [ 4.28586335e-03 2.26153296e-06 9.99990816e-01 -1.88020024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:3.65, Z:-0.02 [[ 9.82402489e-01 -1.86728765e-01 -4.20928999e-03 4.20981593e+01] [ 1.86727024e-01 9.82411507e-01 -8.06540070e-04 3.65265257e+00] [ 4.28585915e-03 6.35878103e-06 9.99990816e-01 -1.95640300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.12, Y:3.66, Z:-0.02 [[ 9.82481237e-01 -1.86313986e-01 -4.20918479e-03 4.21249665e+01] [ 1.86312238e-01 9.82490254e-01 -8.07088676e-04 3.65716765e+00] [ 4.28585494e-03 8.72684246e-06 9.99990816e-01 -1.96710970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.798623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.15, Y:3.66, Z:-0.02 [[ 9.82509890e-01 -1.86162830e-01 -4.20908223e-03 4.21524609e+01] [ 1.86161078e-01 9.82518906e-01 -8.07623192e-04 3.66202270e+00] [ 4.28585229e-03 9.93048729e-06 9.99990816e-01 -1.87606239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:3.67, Z:-0.02 [[ 9.82705726e-01 -1.85126286e-01 -4.20892744e-03 4.21798494e+01] [ 1.85124522e-01 9.82714739e-01 -8.08429096e-04 3.66612352e+00] [ 4.28583651e-03 1.52722226e-05 9.99990816e-01 -1.76577033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.858623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:3.67, Z:-0.02 [[ 9.82758800e-01 -1.84844329e-01 -4.20887933e-03 4.22072209e+01] [ 1.84842561e-01 9.82767813e-01 -8.08679508e-04 3.67111135e+00] [ 4.28583095e-03 1.67568718e-05 9.99990816e-01 -1.63248202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:3.68, Z:-0.02 [[ 9.82873767e-01 -1.84232039e-01 -4.20872140e-03 4.22352521e+01] [ 1.84230262e-01 9.82882778e-01 -8.09500586e-04 3.67591376e+00] [ 4.28581573e-03 2.02630438e-05 9.99990816e-01 -1.59640406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:3.68, Z:-0.02 [[ 9.83051608e-01 -1.83280725e-01 -4.20856247e-03 4.22619702e+01] [ 1.83278935e-01 9.83060616e-01 -8.10326042e-04 3.68045692e+00] [ 4.28578916e-03 2.52514721e-05 9.99990816e-01 -1.62685195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:42.29, Y:3.69, Z:-0.01 [[ 9.83487227e-01 -1.80928612e-01 -4.20849369e-03 4.22896569e+01] [ 1.80926800e-01 9.83496231e-01 -8.10683089e-04 3.68509386e+00] [ 4.28571345e-03 3.58671690e-05 9.99990816e-01 -1.48737602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:3.69, Z:-0.01 [[ 9.83709614e-01 -1.79715568e-01 -4.20834224e-03 4.23173965e+01] [ 1.79713741e-01 9.83718615e-01 -8.11468510e-04 3.69010336e+00] [ 4.28565812e-03 4.19524492e-05 9.99990816e-01 -1.48291206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.34, Y:3.70, Z:-0.02 [[ 9.83957137e-01 -1.78355385e-01 -4.20818513e-03 4.23440081e+01] [ 1.78353542e-01 9.83966135e-01 -8.12282458e-04 3.69537703e+00] [ 4.28558660e-03 4.87063970e-05 9.99990816e-01 -1.55677733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.038623853000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.37, Y:3.70, Z:-0.02 [[ 9.84406418e-01 -1.75858741e-01 -4.20811697e-03 4.23708516e+01] [ 1.75856874e-01 9.84415410e-01 -8.12635425e-04 3.70256104e+00] [ 4.28544423e-03 5.99372324e-05 9.99990816e-01 -1.66468329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.40, Y:3.71, Z:-0.02 [[ 9.84558790e-01 -1.75003662e-01 -4.20796321e-03 4.23979057e+01] [ 1.75001784e-01 9.84567780e-01 -8.13430830e-04 3.70848219e+00] [ 4.28537837e-03 6.44694060e-05 9.99990816e-01 -1.71932142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:3.71, Z:-0.02 [[ 9.84669027e-01 -1.74382341e-01 -4.20780693e-03 4.24246768e+01] [ 1.74380454e-01 9.84678016e-01 -8.14238463e-04 3.71367061e+00] [ 4.28532378e-03 6.79961155e-05 9.99990816e-01 -1.76521660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:3.72, Z:-0.02 [[ 9.84770792e-01 -1.73806737e-01 -4.20773889e-03 4.24520887e+01] [ 1.73804843e-01 9.84779779e-01 -8.14589890e-04 3.71855192e+00] [ 4.28527739e-03 7.08589333e-05 9.99990816e-01 -1.73390770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.48, Y:3.72, Z:-0.02 [[ 9.84776731e-01 -1.73773090e-01 -4.20758330e-03 4.24786097e+01] [ 1.73771192e-01 9.84785717e-01 -8.15392795e-04 3.72426672e+00] [ 4.28526126e-03 7.18230875e-05 9.99990816e-01 -1.72721492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.188623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.51, Y:3.73, Z:-0.02 [[ 9.84752668e-01 -1.73909401e-01 -4.20747756e-03 4.25050067e+01] [ 1.73907502e-01 9.84761654e-01 -8.15938037e-04 3.73012995e+00] [ 4.28526186e-03 7.17852457e-05 9.99990816e-01 -1.73918049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.218623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.53, Y:3.74, Z:-0.01 [[ 9.84652700e-01 -1.74474522e-01 -4.20741153e-03 4.25319215e+01] [ 1.74472627e-01 9.84661686e-01 -8.16278385e-04 3.73650878e+00] [ 4.28529671e-03 6.96725746e-05 9.99990816e-01 -1.40185040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.56, Y:3.74, Z:-0.01 [[ 9.84559048e-01 -1.75002231e-01 -4.20725922e-03 4.25593044e+01] [ 1.75000336e-01 9.84568035e-01 -8.17062650e-04 3.74274488e+00] [ 4.28532073e-03 6.81746446e-05 9.99990816e-01 -1.24708644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.278623853000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.59, Y:3.75, Z:-0.01 [[ 9.84441787e-01 -1.75660661e-01 -4.20710615e-03 4.25867811e+01] [ 1.75658769e-01 9.84450775e-01 -8.17850074e-04 3.74908904e+00] [ 4.28535299e-03 6.61107005e-05 9.99990816e-01 -7.23518985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:42.61, Y:3.75, Z:-0.01 [[ 9.84407904e-01 -1.75850448e-01 -4.20694815e-03 4.26147002e+01] [ 1.75848555e-01 9.84416891e-01 -8.18662008e-04 3.75471388e+00] [ 4.28535290e-03 6.61116003e-05 9.99990816e-01 -7.11311533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.338623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.64, Y:3.76, Z:-0.01 [[ 9.84166738e-01 -1.77195186e-01 -4.20679016e-03 4.26423101e+01] [ 1.77193302e-01 9.84175727e-01 -8.19473026e-04 3.75908297e+00] [ 4.28542744e-03 6.10830577e-05 9.99990816e-01 -1.02790762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.368623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.67, Y:3.76, Z:-0.01 [[ 9.84016398e-01 -1.78028179e-01 -4.20663209e-03 4.26689079e+01] [ 1.78026299e-01 9.84025388e-01 -8.20283679e-04 3.76458705e+00] [ 4.28546638e-03 5.82814498e-05 9.99990816e-01 -1.02720566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.398623853000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:42.70, Y:3.77, Z:-0.01 [[ 9.83876696e-01 -1.78798635e-01 -4.20652431e-03 4.26966491e+01] [ 1.78796760e-01 9.83885687e-01 -8.20836029e-04 3.77055700e+00] [ 4.28550342e-03 5.54885237e-05 9.99990816e-01 -1.04973773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428623853000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:42.72, Y:3.78, Z:-0.01 [[ 9.83780199e-01 -1.79328824e-01 -4.20636991e-03 4.27228830e+01] [ 1.79326950e-01 9.83789190e-01 -8.21626459e-04 3.77689367e+00] [ 4.28552255e-03 5.39843544e-05 9.99990816e-01 -1.15280566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.458623853000006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:42.75, Y:3.78, Z:-0.01 [[ 9.83571469e-01 -1.80470140e-01 -4.20630289e-03 4.27504517e+01] [ 1.80468275e-01 9.83580462e-01 -8.21969444e-04 3.78394159e+00] [ 4.28557828e-03 4.93614665e-05 9.99990816e-01 -1.35912309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.78, Y:3.79, Z:-0.01 [[ 9.83489190e-01 -1.80917998e-01 -4.20614966e-03 4.27773227e+01] [ 1.80916133e-01 9.83498183e-01 -8.22752804e-04 3.79004548e+00] [ 4.28559134e-03 4.82081560e-05 9.99990816e-01 -1.37496948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:3.80, Z:-0.01 [[ 9.83377862e-01 -1.81522147e-01 -4.20599317e-03 4.28048733e+01] [ 1.81520284e-01 9.83386856e-01 -8.23552032e-04 3.79636434e+00] [ 4.28561133e-03 4.63897608e-05 9.99990816e-01 -1.41869854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.548623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.83, Y:3.80, Z:-0.01 [[ 9.83346970e-01 -1.81689425e-01 -4.20583635e-03 4.28318207e+01] [ 1.81687560e-01 9.83355963e-01 -8.24352089e-04 3.80231564e+00] [ 4.28561032e-03 4.64759832e-05 9.99990816e-01 -1.42210548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.86, Y:3.81, Z:-0.01 [[ 9.83380878e-01 -1.81505817e-01 -4.20568032e-03 4.28586147e+01] [ 1.81503948e-01 9.83389870e-01 -8.25147385e-04 3.80967027e+00] [ 4.28559247e-03 4.80865774e-05 9.99990816e-01 -1.38278397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.88, Y:3.82, Z:-0.01 [[ 9.83420742e-01 -1.81289705e-01 -4.20552436e-03 4.28844153e+01] [ 1.81287831e-01 9.83429733e-01 -8.25941481e-04 3.81679980e+00] [ 4.28557239e-03 4.98375957e-05 9.99990816e-01 -1.30966673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.638623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.91, Y:3.82, Z:-0.01 [[ 9.83389452e-01 -1.81459361e-01 -4.20545660e-03 4.29113395e+01] [ 1.81457486e-01 9.83398443e-01 -8.26286332e-04 3.82436831e+00] [ 4.28557687e-03 4.94496787e-05 9.99990816e-01 -1.19138961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.94, Y:3.83, Z:-0.01 [[ 9.83324303e-01 -1.81812074e-01 -4.20530160e-03 4.29383292e+01] [ 1.81810199e-01 9.83333294e-01 -8.27074440e-04 3.83369776e+00] [ 4.28558520e-03 4.87156768e-05 9.99990816e-01 -1.17399663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.698623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.96, Y:3.84, Z:-0.01 [[ 9.83301210e-01 -1.81936931e-01 -4.20514221e-03 4.29649685e+01] [ 1.81935054e-01 9.83310201e-01 -8.27884061e-04 3.84062010e+00] [ 4.28558192e-03 4.89966234e-05 9.99990816e-01 -1.17430243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:3.85, Z:-0.01 [[ 9.83200417e-01 -1.82480843e-01 -4.20507291e-03 4.29921499e+01] [ 1.82478969e-01 9.83209408e-01 -8.28235906e-04 3.84770102e+00] [ 4.28560443e-03 4.69845178e-05 9.99990816e-01 -1.11897022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.758623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:43.02, Y:3.86, Z:-0.01 [[ 9.82965660e-01 -1.83741203e-01 -4.20491727e-03 4.30189526e+01] [ 1.83739338e-01 9.82974653e-01 -8.29025355e-04 3.85629790e+00] [ 4.28565321e-03 4.22947404e-05 9.99990816e-01 -6.18873833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.05, Y:3.86, Z:-0.01 [[ 9.82877359e-01 -1.84212966e-01 -4.20475714e-03 4.30466604e+01] [ 1.84211101e-01 9.82886352e-01 -8.29836728e-04 3.86269327e+00] [ 4.28566509e-03 4.10647905e-05 9.99990816e-01 -1.16283747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.818623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.07, Y:3.87, Z:-0.01 [[ 9.82776691e-01 -1.84749280e-01 -4.20459780e-03 4.30723491e+01] [ 1.84747417e-01 9.82785685e-01 -8.30643278e-04 3.87035758e+00] [ 4.28567927e-03 3.95482702e-05 9.99990816e-01 -1.18944714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.10, Y:3.88, Z:-0.01 [[ 9.82601656e-01 -1.85677965e-01 -4.20452850e-03 4.30992585e+01] [ 1.85676109e-01 9.82610651e-01 -8.30993919e-04 3.88071611e+00] [ 4.28571174e-03 3.58555105e-05 9.99990816e-01 -1.19765911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.878623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.13, Y:3.89, Z:-0.01 [[ 9.82430830e-01 -1.86579709e-01 -4.20437195e-03 4.31265312e+01] [ 1.86577857e-01 9.82439826e-01 -8.31785205e-04 3.88832779e+00] [ 4.28573669e-03 3.27287194e-05 9.99990816e-01 -1.24085927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.908623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.15, Y:3.90, Z:-0.01 [[ 9.82235189e-01 -1.87606922e-01 -4.20421351e-03 4.31535548e+01] [ 1.87605077e-01 9.82244186e-01 -8.32585281e-04 3.89516643e+00] [ 4.28576304e-03 2.90627617e-05 9.99990816e-01 -1.27908390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.938623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.18, Y:3.90, Z:-0.01 [[ 9.81756594e-01 -1.90095544e-01 -4.20405131e-03 4.31789863e+01] [ 1.90093718e-01 9.81765595e-01 -8.33403441e-04 3.90338954e+00] [ 4.28581922e-03 1.90355780e-05 9.99990816e-01 -1.29939661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.21, Y:3.91, Z:-0.01 [[ 9.81406911e-01 -1.91892683e-01 -4.20398123e-03 4.32062075e+01] [ 1.91890872e-01 9.81415915e-01 -8.33756808e-04 3.91037011e+00] [ 4.28584592e-03 1.15490700e-05 9.99990816e-01 -1.28576193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.998623853000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:43.23, Y:3.92, Z:-0.01 [[ 9.81091855e-01 -1.93497028e-01 -4.20381939e-03 4.32328806e+01] [ 1.93495228e-01 9.81100861e-01 -8.34572032e-04 3.91701581e+00] [ 4.28585803e-03 5.37283201e-06 9.99990816e-01 -1.23904531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.26, Y:3.93, Z:-0.01 [[ 9.80419242e-01 -1.96876709e-01 -4.20374899e-03 4.32587861e+01] [ 1.96874938e-01 9.80428254e-01 -8.34926479e-04 3.92586840e+00] [ 4.28585186e-03 -9.03483800e-06 9.99990816e-01 -1.13216358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:3.93, Z:-0.01 [[ 9.80090942e-01 -1.98504595e-01 -4.20368066e-03 4.32857198e+01] [ 1.98502839e-01 9.80099957e-01 -8.35270380e-04 3.93316624e+00] [ 4.28583224e-03 -1.58016100e-05 9.99990816e-01 -1.14264917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:3.94, Z:-0.01 [[ 9.79800042e-01 -1.99935511e-01 -4.20352425e-03 4.33132092e+01] [ 1.99933764e-01 9.79809059e-01 -8.36056747e-04 3.93938521e+00] [ 4.28580857e-03 -2.12579891e-05 9.99990816e-01 -1.17555232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.34, Y:3.94, Z:-0.01 [[ 9.79421702e-01 -2.01780724e-01 -4.20336390e-03 4.33395550e+01] [ 2.01778991e-01 9.79430722e-01 -8.36862187e-04 3.94423685e+00] [ 4.28576639e-03 -2.85095366e-05 9.99990816e-01 -1.20988538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148623853000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.37, Y:3.95, Z:-0.01 [[ 9.79320474e-01 -2.02271455e-01 -4.20329442e-03 4.33665023e+01] [ 2.02269725e-01 9.79329494e-01 -8.37211016e-04 3.95008878e+00] [ 4.28575408e-03 -3.03013153e-05 9.99990816e-01 -1.15396575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.178623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.39, Y:3.96, Z:-0.01 [[ 9.79196001e-01 -2.02873175e-01 -4.20313633e-03 4.33936715e+01] [ 2.02871446e-01 9.79205021e-01 -8.38003946e-04 3.95721571e+00] [ 4.28574072e-03 -3.21262331e-05 9.99990816e-01 -1.11749916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.42, Y:3.96, Z:-0.01 [[ 9.79237174e-01 -2.02674351e-01 -4.20297308e-03 4.34199006e+01] [ 2.02672618e-01 9.79246193e-01 -8.38821896e-04 3.96368647e+00] [ 4.28575307e-03 -3.04219731e-05 9.99990816e-01 -1.16453772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.45, Y:3.97, Z:-0.01 [[ 9.79354813e-01 -2.02105135e-01 -4.20290221e-03 4.34466978e+01] [ 2.02103395e-01 9.79363831e-01 -8.39176825e-04 3.97152217e+00] [ 4.28577236e-03 -2.75689435e-05 9.99990816e-01 -1.30830324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.268623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.47, Y:3.98, Z:-0.01 [[ 9.79434009e-01 -2.01720993e-01 -4.20274202e-03 4.34727048e+01] [ 2.01719245e-01 9.79443026e-01 -8.39978344e-04 3.97733486e+00] [ 4.28578762e-03 -2.50705905e-05 9.99990816e-01 -1.41175398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:3.98, Z:-0.01 [[ 9.79516685e-01 -2.01319154e-01 -4.20267240e-03 4.34996985e+01] [ 2.01317402e-01 9.79525700e-01 -8.40326515e-04 3.98301575e+00] [ 4.28579945e-03 -2.29572471e-05 9.99990816e-01 -1.43430712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.53, Y:3.99, Z:-0.01 [[ 9.79649919e-01 -2.00669814e-01 -4.20251565e-03 4.35258400e+01] [ 2.00668052e-01 9.79658933e-01 -8.41109709e-04 3.98840812e+00] [ 4.28581733e-03 -1.93175696e-05 9.99990816e-01 -1.48398932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.358623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.55, Y:3.99, Z:-0.02 [[ 9.79956351e-01 -1.99167994e-01 -4.20244762e-03 4.35521902e+01] [ 1.99166217e-01 9.79965362e-01 -8.41449449e-04 3.99467621e+00] [ 4.28584290e-03 -1.24018655e-05 9.99990816e-01 -1.54325757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388623853000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:43.58, Y:4.00, Z:-0.02 [[ 9.80048208e-01 -1.98715503e-01 -4.20234163e-03 4.35789932e+01] [ 1.98713719e-01 9.80057217e-01 -8.41978443e-04 4.00091505e+00] [ 4.28584942e-03 -9.88347165e-06 9.99990816e-01 -1.54513045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.61, Y:4.01, Z:-0.02 [[ 9.80157772e-01 -1.98174377e-01 -4.20217789e-03 4.36052552e+01] [ 1.98172585e-01 9.80166780e-01 -8.42794861e-04 4.00698098e+00] [ 4.28585552e-03 -6.68452103e-06 9.99990816e-01 -1.58866834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.448623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.63, Y:4.01, Z:-0.02 [[ 9.80483383e-01 -1.96557059e-01 -4.20210683e-03 4.36312883e+01] [ 1.96555251e-01 9.80492388e-01 -8.43149045e-04 4.01372691e+00] [ 4.28586065e-03 7.47466365e-07 9.99990816e-01 -1.55568390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.478623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.66, Y:4.02, Z:-0.01 [[ 9.80597827e-01 -1.95985316e-01 -4.20203739e-03 4.36584106e+01] [ 1.95983501e-01 9.80606830e-01 -8.43494973e-04 4.01942283e+00] [ 4.28585919e-03 3.59933901e-06 9.99990816e-01 -1.49965703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.68, Y:4.02, Z:-0.01 [[ 9.80709538e-01 -1.95425551e-01 -4.20187880e-03 4.36849258e+01] [ 1.95423727e-01 9.80718540e-01 -8.44284241e-04 4.02495230e+00] [ 4.28585515e-03 6.85079247e-06 9.99990816e-01 -1.48521182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.538623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:4.03, Z:-0.01 [[ 9.80871035e-01 -1.94613352e-01 -4.20180983e-03 4.37120642e+01] [ 1.94611519e-01 9.80880035e-01 -8.44627353e-04 4.03163336e+00] [ 4.28584713e-03 1.07499118e-05 9.99990816e-01 -1.37626860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.74, Y:4.04, Z:-0.01 [[ 9.80930948e-01 -1.94311146e-01 -4.20165227e-03 4.37394145e+01] [ 1.94309308e-01 9.80939946e-01 -8.45410387e-04 4.03814878e+00] [ 4.28584122e-03 1.28690680e-05 9.99990816e-01 -1.36448985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:43.77, Y:4.04, Z:-0.01 [[ 9.81072457e-01 -1.93595409e-01 -4.20148950e-03 4.37659846e+01] [ 1.93593560e-01 9.81081453e-01 -8.46218561e-04 4.04400555e+00] [ 4.28582745e-03 1.68204117e-05 9.99990816e-01 -1.48564617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.79, Y:4.05, Z:-0.01 [[ 9.81243687e-01 -1.92725647e-01 -4.20141907e-03 4.37929251e+01] [ 1.92723789e-01 9.81252681e-01 -8.46568087e-04 4.05040528e+00] [ 4.28580911e-03 2.09761882e-05 9.99990816e-01 -1.43664790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.658623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.82, Y:4.06, Z:-0.02 [[ 9.81359256e-01 -1.92136307e-01 -4.20125283e-03 4.38188727e+01] [ 1.92134440e-01 9.81368248e-01 -8.47392315e-04 4.05676017e+00] [ 4.28579096e-03 2.43909311e-05 9.99990816e-01 -1.50387370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.688623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:43.85, Y:4.06, Z:-0.01 [[ 9.81416403e-01 -1.91844191e-01 -4.20118046e-03 4.38464115e+01] [ 1.91842319e-01 9.81425395e-01 -8.47750938e-04 4.06392036e+00] [ 4.28578128e-03 2.60324726e-05 9.99990816e-01 -1.48183409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.718623853000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:43.87, Y:4.07, Z:-0.01 [[ 9.81595567e-01 -1.90925361e-01 -4.20102327e-03 4.38737502e+01] [ 1.90923478e-01 9.81604557e-01 -8.48529190e-04 4.07125103e+00] [ 4.28574932e-03 3.08385191e-05 9.99990816e-01 -1.41929822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748623853000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:43.90, Y:4.08, Z:-0.01 [[ 9.81686014e-01 -1.90459766e-01 -4.20091976e-03 4.38996990e+01] [ 1.90457876e-01 9.81695002e-01 -8.49041335e-04 4.07754450e+00] [ 4.28573014e-03 3.33937491e-05 9.99990816e-01 -1.37427582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.778623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.93, Y:4.08, Z:-0.01 [[ 9.81692702e-01 -1.90425291e-01 -4.20080603e-03 4.39269896e+01] [ 1.90423398e-01 9.81701690e-01 -8.49603657e-04 4.08454907e+00] [ 4.28572440e-03 3.41179493e-05 9.99990816e-01 -1.27605573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.95, Y:4.09, Z:-0.01 [[ 9.81827146e-01 -1.89730890e-01 -4.20064139e-03 4.39529822e+01] [ 1.89728988e-01 9.81836131e-01 -8.50416896e-04 4.09207309e+00] [ 4.28569184e-03 3.79789537e-05 9.99990816e-01 -1.40641067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.838623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:43.98, Y:4.10, Z:-0.01 [[ 9.81809302e-01 -1.89823209e-01 -4.20056968e-03 4.39799260e+01] [ 1.89821306e-01 9.81818287e-01 -8.50770951e-04 4.09864442e+00] [ 4.28569220e-03 3.79372100e-05 9.99990816e-01 -1.45186600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.868623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.01, Y:4.11, Z:-0.02 [[ 9.81816236e-01 -1.89787343e-01 -4.20040354e-03 4.40057596e+01] [ 1.89785436e-01 9.81825220e-01 -8.51590407e-04 4.10500052e+00] [ 4.28568322e-03 3.89298688e-05 9.99990816e-01 -1.55433413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.898623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.03, Y:4.11, Z:-0.02 [[ 9.81775936e-01 -1.89995709e-01 -4.20033116e-03 4.40321314e+01] [ 1.89993802e-01 9.81784920e-01 -8.51947295e-04 4.11180295e+00] [ 4.28568812e-03 3.83844644e-05 9.99990816e-01 -1.67321775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928623853000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.06, Y:4.12, Z:-0.02 [[ 9.81587396e-01 -1.90967386e-01 -4.20026070e-03 4.40595157e+01] [ 1.90965487e-01 9.81596382e-01 -8.52294517e-04 4.11898890e+00] [ 4.28572116e-03 3.44967259e-05 9.99990816e-01 -1.70977136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.958623853000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.09, Y:4.13, Z:-0.02 [[ 9.81385190e-01 -1.92003822e-01 -4.20010158e-03 4.40864944e+01] [ 1.92001929e-01 9.81394177e-01 -8.53077959e-04 4.12520141e+00] [ 4.28574946e-03 3.07704693e-05 9.99990816e-01 -1.74006365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:44.11, Y:4.13, Z:-0.02 [[ 9.81187415e-01 -1.93011961e-01 -4.19994298e-03 4.41136658e+01] [ 1.93010074e-01 9.81196403e-01 -8.53858082e-04 4.13147941e+00] [ 4.28577377e-03 2.71634973e-05 9.99990816e-01 -1.69664997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.018623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:44.14, Y:4.14, Z:-0.02 [[ 9.80660008e-01 -1.95673990e-01 -4.19978423e-03 4.41406025e+01] [ 1.95672125e-01 9.80669001e-01 -8.54638175e-04 4.13852700e+00] [ 4.28582867e-03 1.63287757e-05 9.99990816e-01 -1.72219247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.048623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:44.17, Y:4.14, Z:-0.02 [[ 9.80354720e-01 -1.97197837e-01 -4.19962506e-03 4.41684282e+01] [ 1.97195982e-01 9.80363715e-01 -8.55419625e-04 4.14457390e+00] [ 4.28584692e-03 1.04654788e-05 9.99990816e-01 -1.79864026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.078623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:44.20, Y:4.15, Z:-0.02 [[ 9.80055716e-01 -1.98678528e-01 -4.19947551e-03 4.41954383e+01] [ 1.98676683e-01 9.80064713e-01 -8.56153182e-04 4.14963860e+00] [ 4.28585701e-03 4.73995498e-06 9.99990816e-01 -1.84670237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.22, Y:4.15, Z:-0.02 [[ 9.79523697e-01 -2.01285105e-01 -4.19931381e-03 4.42230071e+01] [ 2.01283281e-01 9.79532698e-01 -8.56945521e-04 4.15362162e+00] [ 4.28585556e-03 -5.85321640e-06 9.99990816e-01 -1.98316181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.138623853000006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:44.25, Y:4.16, Z:-0.02 [[ 9.79314015e-01 -2.02302811e-01 -4.19915232e-03 4.42502023e+01] [ 2.02300993e-01 9.79323017e-01 -8.57736144e-04 4.15882947e+00] [ 4.28584895e-03 -9.49965778e-06 9.99990816e-01 -2.04184345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:44.28, Y:4.16, Z:-0.02 [[ 9.79083987e-01 -2.03413161e-01 -4.19898935e-03 4.42764344e+01] [ 2.03411350e-01 9.79092991e-01 -8.58533186e-04 4.16436572e+00] [ 4.28583800e-03 -1.35459977e-05 9.99990816e-01 -2.04435273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.198623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:44.30, Y:4.17, Z:-0.02 [[ 9.78661739e-01 -2.05435074e-01 -4.19891872e-03 4.43041144e+01] [ 2.05433279e-01 9.78670746e-01 -8.58878524e-04 4.16930113e+00] [ 4.28580269e-03 -2.20460921e-05 9.99990816e-01 -2.14457745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.228623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:44.33, Y:4.17, Z:-0.02 [[ 9.78477000e-01 -2.06313185e-01 -4.19875580e-03 4.43313832e+01] [ 2.06311396e-01 9.78486009e-01 -8.59674211e-04 4.17485977e+00] [ 4.28578593e-03 -2.50797277e-05 9.99990816e-01 -1.77503552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.258623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:44.36, Y:4.18, Z:-0.02 [[ 9.78437879e-01 -2.06498641e-01 -4.19859315e-03 4.43592346e+01] [ 2.06496850e-01 9.78446887e-01 -8.60467844e-04 4.18075198e+00] [ 4.28578584e-03 -2.50819268e-05 9.99990816e-01 -1.76282809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288623853000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.39, Y:4.19, Z:-0.02 [[ 9.78245922e-01 -2.07406099e-01 -4.19842991e-03 4.43860742e+01] [ 2.07404313e-01 9.78254931e-01 -8.61263602e-04 4.18537927e+00] [ 4.28576609e-03 -2.82448645e-05 9.99990816e-01 -2.12249913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.318623853000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:44.41, Y:4.19, Z:-0.02 [[ 9.78087017e-01 -2.08154174e-01 -4.19835894e-03 4.44135391e+01] [ 2.08152393e-01 9.78096027e-01 -8.61609419e-04 4.18939713e+00] [ 4.28574580e-03 -3.11694740e-05 9.99990816e-01 -1.88188680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:44.44, Y:4.19, Z:-0.02 [[ 9.78126419e-01 -2.07968951e-01 -4.19819339e-03 4.44403197e+01] [ 2.07967165e-01 9.78135428e-01 -8.62415343e-04 4.19346834e+00] [ 4.28575730e-03 -2.95351451e-05 9.99990816e-01 -1.95824263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.378623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:44.47, Y:4.20, Z:-0.02 [[ 9.78110852e-01 -2.08042153e-01 -4.19812157e-03 4.44683306e+01] [ 2.08040366e-01 9.78119861e-01 -8.62764813e-04 4.19843199e+00] [ 4.28575753e-03 -2.94991221e-05 9.99990816e-01 -1.92593961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.408623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:44.50, Y:4.20, Z:-0.02 [[ 9.78392458e-01 -2.06713751e-01 -4.19795880e-03 4.44953337e+01] [ 2.06711949e-01 9.78401464e-01 -8.63556054e-04 4.20181042e+00] [ 4.28579795e-03 -2.28715141e-05 9.99990816e-01 -2.13752164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.438623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:44.52, Y:4.21, Z:-0.02 [[ 9.78582681e-01 -2.05811358e-01 -4.19788813e-03 4.45230605e+01] [ 2.05809545e-01 9.78591684e-01 -8.63899457e-04 4.20650766e+00] [ 4.28581874e-03 -1.85684007e-05 9.99990816e-01 -2.15520300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468623853000004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:44.55, Y:4.21, Z:-0.02 [[ 9.78901580e-01 -2.04289198e-01 -4.19772741e-03 4.45497789e+01] [ 2.04287368e-01 9.78910580e-01 -8.64679677e-04 4.21131998e+00] [ 4.28584450e-03 -1.11063838e-05 9.99990816e-01 -2.13964121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.498623853000005 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:44.58, Y:4.22, Z:-0.02 [[ 9.79159520e-01 -2.03049290e-01 -4.19765722e-03 4.45768648e+01] [ 2.03047447e-01 9.79168518e-01 -8.65020324e-04 4.21699945e+00] [ 4.28585556e-03 -5.33069726e-06 9.99990816e-01 -2.01089701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528623853000006 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:44.60, Y:4.22, Z:-0.02 [[ 9.79755599e-01 -2.00153309e-01 -4.19748968e-03 4.46033462e+01] [ 2.00151437e-01 9.79764590e-01 -8.65832541e-04 4.22266058e+00] [ 4.28585100e-03 8.17068992e-06 9.99990816e-01 -2.00154791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.558623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:44.63, Y:4.23, Z:-0.02 [[ 9.79864236e-01 -1.99620791e-01 -4.19741680e-03 4.46305853e+01] [ 1.99618912e-01 9.79873226e-01 -8.66185704e-04 4.22809981e+00] [ 4.28584502e-03 1.08606205e-05 9.99990816e-01 -1.93863142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.588623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:44.66, Y:4.23, Z:-0.02 [[ 9.79951953e-01 -1.99189742e-01 -4.19725079e-03 4.46576258e+01] [ 1.99187856e-01 9.79960941e-01 -8.66989372e-04 4.23257508e+00] [ 4.28583723e-03 1.35665416e-05 9.99990816e-01 -1.93306492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.618623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:44.69, Y:4.24, Z:-0.02 [[ 9.79968604e-01 -1.99107806e-01 -4.19713744e-03 4.46855453e+01] [ 1.99105916e-01 9.79977592e-01 -8.67537761e-04 4.23715086e+00] [ 4.28583418e-03 1.44848735e-05 9.99990816e-01 -1.94468916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648623853000004 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:44.71, Y:4.24, Z:-0.02 [[ 9.79965232e-01 -1.99124407e-01 -4.19696988e-03 4.47117264e+01] [ 1.99122514e-01 9.79974219e-01 -8.68347631e-04 4.24210443e+00] [ 4.28583149e-03 1.52392956e-05 9.99990816e-01 -1.59920282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.678623853000005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:44.74, Y:4.25, Z:-0.02 [[ 9.79900710e-01 -1.99441683e-01 -4.19689724e-03 4.47394586e+01] [ 1.99439792e-01 9.79909697e-01 -8.68698595e-04 4.24725488e+00] [ 4.28583501e-03 1.42100575e-05 9.99990816e-01 -1.92204595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708623853000006 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:44.77, Y:4.25, Z:-0.02 [[ 9.79778490e-01 -2.00041242e-01 -4.19673452e-03 4.47661905e+01] [ 2.00039352e-01 9.79787478e-01 -8.69483949e-04 4.25161250e+00] [ 4.28584058e-03 1.23896148e-05 9.99990816e-01 -1.83730347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.738623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:44.79, Y:4.26, Z:-0.02 [[ 9.79648988e-01 -2.00674484e-01 -4.19666396e-03 4.47938927e+01] [ 2.00672599e-01 9.79657977e-01 -8.69824424e-04 4.25692629e+00] [ 4.28584689e-03 9.96715154e-06 9.99990816e-01 -1.78320656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.768623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:44.82, Y:4.26, Z:-0.02 [[ 9.79454247e-01 -2.01622835e-01 -4.19650300e-03 4.48212849e+01] [ 2.01620956e-01 9.79463237e-01 -8.70600284e-04 4.26208618e+00] [ 4.28585331e-03 6.61020091e-06 9.99990816e-01 -1.81519817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.798623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:44.85, Y:4.27, Z:-0.02 [[ 9.79182589e-01 -2.02938042e-01 -4.19634132e-03 4.48493604e+01] [ 2.02936171e-01 9.79191580e-01 -8.71378863e-04 4.26690757e+00] [ 4.28585801e-03 1.64957042e-06 9.99990816e-01 -1.81378430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:44.88, Y:4.27, Z:-0.02 [[ 9.78577904e-01 -2.05834103e-01 -4.19618004e-03 4.48771742e+01] [ 2.05832255e-01 9.78586901e-01 -8.72154846e-04 4.27027569e+00] [ 4.28584603e-03 -1.02377392e-05 9.99990816e-01 -1.82788974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.858623853000005 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:44.90, Y:4.28, Z:-0.02 [[ 9.78225538e-01 -2.07502267e-01 -4.19601818e-03 4.49048969e+01] [ 2.07500431e-01 9.78234537e-01 -8.72932860e-04 4.27539402e+00] [ 4.28582545e-03 -1.67503673e-05 9.99990816e-01 -1.76132062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888623853000006 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:44.93, Y:4.28, Z:-0.02 [[ 9.77843521e-01 -2.09295111e-01 -4.19585647e-03 4.49321377e+01] [ 2.09293289e-01 9.77852523e-01 -8.73709468e-04 4.28019915e+00] [ 4.28579195e-03 -2.38134586e-05 9.99990816e-01 -1.74860694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91862385300001 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:44.96, Y:4.28, Z:-0.02 [[ 9.77069582e-01 -2.12878903e-01 -4.19569352e-03 4.49597110e+01] [ 2.12877110e-01 9.77078590e-01 -8.74491263e-04 4.28261923e+00] [ 4.28568305e-03 -3.87282992e-05 9.99990816e-01 -1.83919860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.948623853 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:44.99, Y:4.29, Z:-0.02 [[ 9.76665011e-01 -2.14727396e-01 -4.19553089e-03 4.49873750e+01] [ 2.14725617e-01 9.76674021e-01 -8.75270820e-04 4.28620457e+00] [ 4.28561065e-03 -4.60415743e-05 9.99990816e-01 -1.88004134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.978623853 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:45.01, Y:4.29, Z:-0.02 [[ 9.76356601e-01 -2.16125398e-01 -4.19536026e-03 4.50141358e+01] [ 2.16123628e-01 9.76365613e-01 -8.76087909e-04 4.28991683e+00] [ 4.28555034e-03 -5.13422694e-05 9.99990816e-01 -2.01816603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008623853 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:45.04, Y:4.29, Z:-0.02 [[ 9.76055554e-01 -2.17480932e-01 -4.19528611e-03 4.50421526e+01] [ 2.17479173e-01 9.76064568e-01 -8.76442849e-04 4.29416366e+00] [ 4.28547974e-03 -5.69304446e-05 9.99990816e-01 -2.07464214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.038623853000004 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:45.07, Y:4.30, Z:-0.02 [[ 9.75467114e-01 -2.20105225e-01 -4.19512303e-03 4.50699824e+01] [ 2.20103487e-01 9.75476133e-01 -8.77222768e-04 4.29583341e+00] [ 4.28532370e-03 -6.76592445e-05 9.99990816e-01 -2.17071664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068623853000005 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:45.10, Y:4.30, Z:-0.02 [[ 9.75227142e-01 -2.21166056e-01 -4.19495432e-03 4.50969594e+01] [ 2.21164325e-01 9.75236161e-01 -8.78028809e-04 4.29955188e+00] [ 4.28526132e-03 -7.14967145e-05 9.99990816e-01 -1.99576846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09862385300001 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:45.13, Y:4.30, Z:-0.02 [[ 9.74938386e-01 -2.22435488e-01 -4.19488109e-03 4.51251271e+01] [ 2.22433767e-01 9.74947408e-01 -8.78378547e-04 4.30338085e+00] [ 4.28517100e-03 -7.67182378e-05 9.99990816e-01 -2.18337166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:45.15, Y:4.30, Z:-0.02 [[ 9.74387212e-01 -2.24837643e-01 -4.19471744e-03 4.51533657e+01] [ 2.24835941e-01 9.74396237e-01 -8.79159339e-04 4.30402186e+00] [ 4.28498500e-03 -8.64816267e-05 9.99990816e-01 -2.14554231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.158623853 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:45.18, Y:4.31, Z:-0.02 [[ 9.74055599e-01 -2.26269964e-01 -4.19455341e-03 4.51810628e+01] [ 2.26268272e-01 9.74064626e-01 -8.79941234e-04 4.30652725e+00] [ 4.28487037e-03 -9.19826657e-05 9.99990816e-01 -2.11866928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.188623853 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:45.21, Y:4.31, Z:-0.02 [[ 9.73746992e-01 -2.27594380e-01 -4.19438909e-03 4.52084055e+01] [ 2.27592697e-01 9.73756021e-01 -8.80723796e-04 4.30885921e+00] [ 4.28475942e-03 -9.70101788e-05 9.99990816e-01 -2.16857400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.218623853000004 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:45.24, Y:4.31, Z:-0.02 [[ 9.73311723e-01 -2.29448681e-01 -4.19431776e-03 4.52375184e+01] [ 2.29447013e-01 9.73320755e-01 -8.81063385e-04 4.30848821e+00] [ 4.28457536e-03 -1.04824359e-04 9.99990816e-01 -2.16520167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248623853000005 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:45.26, Y:4.31, Z:-0.02 [[ 9.73130386e-01 -2.30216554e-01 -4.19415540e-03 4.52640501e+01] [ 2.30214890e-01 9.73139418e-01 -8.81835584e-04 4.31109026e+00] [ 4.28451110e-03 -1.07416022e-04 9.99990816e-01 -2.11924094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.278623853000006 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:45.29, Y:4.31, Z:-0.02 [[ 9.73035630e-01 -2.30616720e-01 -4.19408494e-03 4.52924665e+01] [ 2.30615058e-01 9.73044663e-01 -8.82170601e-04 4.31384917e+00] [ 4.28447526e-03 -1.08835716e-04 9.99990816e-01 -1.71173338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308623853 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:45.32, Y:4.32, Z:-0.01 [[ 9.72956683e-01 -2.30949572e-01 -4.19392129e-03 4.53207796e+01] [ 2.30947910e-01 9.72965715e-01 -8.82947917e-04 4.31647960e+00] [ 4.28445807e-03 -1.09507282e-04 9.99990816e-01 -1.41320967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.338623853 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:45.35, Y:4.31, Z:-0.01 [[ 9.73024568e-01 -2.30663397e-01 -4.19375674e-03 4.53487316e+01] [ 2.30661729e-01 9.73033600e-01 -8.83728784e-04 4.31429158e+00] [ 4.28451010e-03 -1.07449361e-04 9.99990816e-01 -1.48329378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.368623853 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:45.38, Y:4.32, Z:-0.01 [[ 9.73052745e-01 -2.30544506e-01 -4.19364436e-03 4.53769198e+01] [ 2.30542835e-01 9.73061776e-01 -8.84261767e-04 4.31673620e+00] [ 4.28453672e-03 -1.06381320e-04 9.99990816e-01 -1.41408194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.398623853000004 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:45.41, Y:4.32, Z:-0.02 [[ 9.73147413e-01 -2.30144578e-01 -4.19348078e-03 4.54051121e+01] [ 2.30142899e-01 9.73156443e-01 -8.85036817e-04 4.31840136e+00] [ 4.28459927e-03 -1.03828537e-04 9.99990816e-01 -1.94003282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428623853000005 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:45.43, Y:4.32, Z:-0.02 [[ 9.73568101e-01 -2.28358423e-01 -4.19331566e-03 4.54329032e+01] [ 2.28356725e-01 9.73577127e-01 -8.85818482e-04 4.31589105e+00] [ 4.28480032e-03 -9.51672133e-05 9.99990816e-01 -2.18688191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.458623853000006 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:45.46, Y:4.32, Z:-0.02 [[ 9.73830365e-01 -2.27237405e-01 -4.19315160e-03 4.54609692e+01] [ 2.27235693e-01 9.73839388e-01 -8.86594408e-04 4.31770577e+00] [ 4.28492360e-03 -8.94411554e-05 9.99990816e-01 -2.20164180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488623853 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:45.49, Y:4.32, Z:-0.02 [[ 9.74133329e-01 -2.25935115e-01 -4.19298616e-03 4.54895594e+01] [ 2.25933387e-01 9.74142349e-01 -8.87376139e-04 4.32015517e+00] [ 4.28505482e-03 -8.29128941e-05 9.99990816e-01 -2.29014869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.518623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:45.52, Y:4.32, Z:-0.02 [[ 9.74417595e-01 -2.24705967e-01 -4.19281948e-03 4.55174474e+01] [ 2.24704225e-01 9.74426612e-01 -8.88162999e-04 4.32263713e+00] [ 4.28517040e-03 -7.67025967e-05 9.99990816e-01 -2.32277620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.548623853 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:45.55, Y:4.32, Z:-0.02 [[ 9.74947480e-01 -2.22395668e-01 -4.19265253e-03 4.55454948e+01] [ 2.22393901e-01 9.74956493e-01 -8.88950405e-04 4.32122828e+00] [ 4.28535252e-03 -6.57403945e-05 9.99990816e-01 -2.40516146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.578623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:45.57, Y:4.32, Z:-0.02 [[ 9.75150527e-01 -2.21503660e-01 -4.19253875e-03 4.55735298e+01] [ 2.21501883e-01 9.75159538e-01 -8.89486690e-04 4.32365907e+00] [ 4.28541871e-03 -6.12718113e-05 9.99990816e-01 -2.38558921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608623853000005 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:45.60, Y:4.33, Z:-0.02 [[ 9.75470319e-01 -2.20091073e-01 -4.19236594e-03 4.56009887e+01] [ 2.20089279e-01 9.75479327e-01 -8.90300447e-04 4.32610910e+00] [ 4.28551348e-03 -5.42331378e-05 9.99990816e-01 -2.46998425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.638623853000006 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:45.63, Y:4.33, Z:-0.02 [[ 9.75816668e-01 -2.18550350e-01 -4.19229079e-03 4.56286481e+01] [ 2.18548541e-01 9.75825672e-01 -8.90654153e-04 4.32900989e+00] [ 4.28559776e-03 -4.71038673e-05 9.99990816e-01 -2.48303285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66862385300001 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:45.66, Y:4.33, Z:-0.02 [[ 9.76585630e-01 -2.15088199e-01 -4.19211676e-03 4.56565834e+01] [ 2.15086353e-01 9.76594627e-01 -8.91472551e-04 4.32920603e+00] [ 4.28574393e-03 -3.10678231e-05 9.99990816e-01 -2.46836113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.698623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:45.68, Y:4.33, Z:-0.02 [[ 9.76979919e-01 -2.13290097e-01 -4.19206267e-03 4.56841955e+01] [ 2.13288234e-01 9.76988912e-01 -8.91726800e-04 4.33251302e+00] [ 4.28579525e-03 -2.29184682e-05 9.99990816e-01 -2.42907232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.728623853 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:45.71, Y:4.34, Z:-0.02 [[ 9.77365162e-01 -2.11517772e-01 -4.19189326e-03 4.57115087e+01] [ 2.11515889e-01 9.77374152e-01 -8.92522494e-04 4.33558564e+00] [ 4.28583248e-03 -1.43316369e-05 9.99990816e-01 -2.45459452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.758623853 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:45.74, Y:4.34, Z:-0.02 [[ 9.77730609e-01 -2.09822033e-01 -4.19181947e-03 4.57388735e+01] [ 2.09820134e-01 9.77739594e-01 -8.92868922e-04 4.33921505e+00] [ 4.28585144e-03 -6.54284548e-06 9.99990816e-01 -2.12631499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788623853000004 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:45.77, Y:4.34, Z:-0.03 [[ 9.78305565e-01 -2.07124724e-01 -4.19164554e-03 4.57659413e+01] [ 2.07122796e-01 9.78314545e-01 -8.93684668e-04 4.34057314e+00] [ 4.28585199e-03 6.11133991e-06 9.99990816e-01 -2.51094290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.818623853000005 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:45.79, Y:4.34, Z:-0.03 [[ 9.78573650e-01 -2.05854422e-01 -4.19156977e-03 4.57934240e+01] [ 2.05852481e-01 9.78582626e-01 -8.94039925e-04 4.34499863e+00] [ 4.28583943e-03 1.20388769e-05 9.99990816e-01 -2.58543992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84862385300001 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:45.82, Y:4.35, Z:-0.03 [[ 9.78791987e-01 -2.04813765e-01 -4.19140327e-03 4.58208727e+01] [ 2.04811811e-01 9.78800961e-01 -8.94819845e-04 4.34988461e+00] [ 4.28582097e-03 1.73935995e-05 9.99990816e-01 -2.70724449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.878623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:45.85, Y:4.35, Z:-0.03 [[ 9.79014185e-01 -2.03749011e-01 -4.19123467e-03 4.58487611e+01] [ 2.03747044e-01 9.79023156e-01 -8.95608847e-04 4.35476708e+00] [ 4.28579521e-03 2.28620934e-05 9.99990816e-01 -2.77973288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.908623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:45.88, Y:4.36, Z:-0.03 [[ 9.79232554e-01 -2.02696919e-01 -4.19106559e-03 4.58768972e+01] [ 2.02694938e-01 9.79241522e-01 -8.96399369e-04 4.35881456e+00] [ 4.28576283e-03 2.82756626e-05 9.99990816e-01 -2.79356307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.938623853 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:45.90, Y:4.36, Z:-0.03 [[ 9.79610663e-01 -2.00861609e-01 -4.19089600e-03 4.59048160e+01] [ 2.00859609e-01 9.79619627e-01 -8.97191548e-04 4.36035047e+00] [ 4.28569531e-03 3.71166766e-05 9.99990816e-01 -2.77700407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968623853000004 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:45.93, Y:4.37, Z:-0.03 [[ 9.79769366e-01 -2.00086051e-01 -4.19072708e-03 4.59311498e+01] [ 2.00084040e-01 9.79778327e-01 -8.97979876e-04 4.36528479e+00] [ 4.28565681e-03 4.13155677e-05 9.99990816e-01 -2.78105946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.998623853000005 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:45.96, Y:4.37, Z:-0.03 [[ 9.80068628e-01 -1.98615014e-01 -4.19065372e-03 4.59584239e+01] [ 1.98612988e-01 9.80077586e-01 -8.98322099e-04 4.37094166e+00] [ 4.28558603e-03 4.80990508e-05 9.99990816e-01 -2.70898237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028623853000006 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:45.99, Y:4.38, Z:-0.02 [[ 9.80172014e-01 -1.98104174e-01 -4.19048558e-03 4.59858022e+01] [ 1.98102140e-01 9.80180970e-01 -8.99105713e-04 4.37703832e+00] [ 4.28555082e-03 5.11340944e-05 9.99990816e-01 -2.15214010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.058623853 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:46.01, Y:4.38, Z:-0.03 [[ 9.80198486e-01 -1.97973151e-01 -4.19031600e-03 4.60129105e+01] [ 1.97971113e-01 9.80207442e-01 -8.99895382e-04 4.38231440e+00] [ 4.28553405e-03 5.25145707e-05 9.99990816e-01 -2.77332104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.088623853 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:46.04, Y:4.39, Z:-0.03 [[ 9.80173022e-01 -1.98099191e-01 -4.19026335e-03 4.60406803e+01] [ 1.98097153e-01 9.80181977e-01 -9.00140454e-04 4.38778612e+00] [ 4.28553771e-03 5.22141484e-05 9.99990816e-01 -2.56887777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.118623853 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:46.07, Y:4.39, Z:-0.02 [[ 9.79991305e-01 -1.98996193e-01 -4.19008673e-03 4.60671686e+01] [ 1.98994160e-01 9.80000262e-01 -9.00961863e-04 4.39306245e+00] [ 4.28557407e-03 4.91320037e-05 9.99990816e-01 -1.97935304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148623853000004 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:46.09, Y:4.40, Z:-0.02 [[ 9.79954070e-01 -1.99179476e-01 -4.19001006e-03 4.60949864e+01] [ 1.99177443e-01 9.79963027e-01 -9.01318307e-04 4.39924210e+00] [ 4.28557905e-03 4.86950542e-05 9.99990816e-01 -1.96714284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.178623853000005 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:46.12, Y:4.40, Z:-0.02 [[ 9.79752250e-01 -2.00169864e-01 -4.18984134e-03 4.61219568e+01] [ 2.00167836e-01 9.79761207e-01 -9.02101928e-04 4.40476900e+00] [ 4.28561763e-03 4.51649190e-05 9.99990816e-01 -1.88422289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208623853000006 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:46.15, Y:4.41, Z:-0.02 [[ 9.79456208e-01 -2.01613448e-01 -4.18967333e-03 4.61496455e+01] [ 2.01611431e-01 9.79465168e-01 -9.02881527e-04 4.41050505e+00] [ 4.28567215e-03 3.96468821e-05 9.99990816e-01 -1.85077314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.238623853 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:46.18, Y:4.42, Z:-0.02 [[ 9.79092130e-01 -2.03374160e-01 -4.18949962e-03 4.61773768e+01] [ 2.03372154e-01 9.79101093e-01 -9.03686852e-04 4.41660674e+00] [ 4.28573021e-03 3.27651205e-05 9.99990816e-01 -1.88305429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.268623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:46.20, Y:4.42, Z:-0.02 [[ 9.78473114e-01 -2.06331809e-01 -4.18932428e-03 4.62045080e+01] [ 2.06329828e-01 9.78482082e-01 -9.04498988e-04 4.42197291e+00] [ 4.28580565e-03 2.06453857e-05 9.99990816e-01 -2.39035528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.298623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:46.23, Y:4.43, Z:-0.03 [[ 9.78163144e-01 -2.07796329e-01 -4.18914793e-03 4.62309501e+01] [ 2.07794358e-01 9.78172114e-01 -9.05315007e-04 4.42775803e+00] [ 4.28582882e-03 1.50644709e-05 9.99990816e-01 -2.50026116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:46.26, Y:4.43, Z:-0.03 [[ 9.77705261e-01 -2.09940170e-01 -4.18907163e-03 4.62591374e+01] [ 2.09938216e-01 9.77714235e-01 -9.05667892e-04 4.43325569e+00] [ 4.28585104e-03 6.03003514e-06 9.99990816e-01 -2.54565598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.358623853000005 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:46.29, Y:4.44, Z:-0.03 [[ 9.77457266e-01 -2.11091797e-01 -4.18891896e-03 4.62852100e+01] [ 2.11089852e-01 9.77466241e-01 -9.06373502e-04 4.43934014e+00] [ 4.28585488e-03 1.70308351e-06 9.99990816e-01 -2.56641071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388623853000006 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:46.31, Y:4.45, Z:-0.03 [[ 9.77223384e-01 -2.12171891e-01 -4.18879958e-03 4.63113132e+01] [ 2.12169953e-01 9.77232362e-01 -9.06924896e-04 4.44554575e+00] [ 4.28585447e-03 -2.46919272e-06 9.99990816e-01 -2.55953565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41862385300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:46.34, Y:4.45, Z:-0.03 [[ 9.76894942e-01 -2.13679029e-01 -4.18872400e-03 4.63382517e+01] [ 2.13677103e-01 9.76903922e-01 -9.07273803e-04 4.45223030e+00] [ 4.28584629e-03 -8.72322289e-06 9.99990816e-01 -2.80356021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.448623853 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:46.36, Y:4.46, Z:-0.03 [[ 9.76741518e-01 -2.14379250e-01 -4.18867077e-03 4.63645808e+01] [ 2.14377330e-01 9.76750499e-01 -9.07519508e-04 4.45863546e+00] [ 4.28583961e-03 -1.15440716e-05 9.99990816e-01 -2.80253389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.478623853 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:46.39, Y:4.46, Z:-0.03 [[ 9.76608753e-01 -2.14983252e-01 -4.18859634e-03 4.63918361e+01] [ 2.14981335e-01 9.76617736e-01 -9.07862882e-04 4.46488715e+00] [ 4.28583279e-03 -1.38431966e-05 9.99990816e-01 -2.82682794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508623853 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:46.42, Y:4.47, Z:-0.03 [[ 9.76283641e-01 -2.16454867e-01 -4.18842600e-03 4.64181200e+01] [ 2.16452961e-01 9.76292625e-01 -9.08648086e-04 4.47030230e+00] [ 4.28581071e-03 -1.94989486e-05 9.99990816e-01 -2.87826625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.538623853000004 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:46.45, Y:4.48, Z:-0.03 [[ 9.76138190e-01 -2.17109859e-01 -4.18835183e-03 4.64455559e+01] [ 2.17107957e-01 9.76147176e-01 -9.08989817e-04 4.47638470e+00] [ 4.28579846e-03 -2.20248369e-05 9.99990816e-01 -2.82121304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568623853000005 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:46.47, Y:4.48, Z:-0.03 [[ 9.76019004e-01 -2.17645037e-01 -4.18817964e-03 4.64715460e+01] [ 2.17643137e-01 9.76027990e-01 -9.09782519e-04 4.48220786e+00] [ 4.28579020e-03 -2.35635242e-05 9.99990816e-01 -2.84825887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59862385300001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:46.50, Y:4.49, Z:-0.03 [[ 9.75749082e-01 -2.18851977e-01 -4.18810478e-03 4.64988118e+01] [ 2.18850086e-01 9.75758070e-01 -9.10126968e-04 4.48827534e+00] [ 4.28576013e-03 -2.85115401e-05 9.99990816e-01 -2.87452115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:46.53, Y:4.49, Z:-0.03 [[ 9.75605650e-01 -2.19490494e-01 -4.18793356e-03 4.65257671e+01] [ 2.19488606e-01 9.75614638e-01 -9.10914193e-04 4.49404335e+00] [ 4.28574629e-03 -3.05106655e-05 9.99990816e-01 -2.95271377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.658623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:46.55, Y:4.50, Z:-0.02 [[ 9.75521370e-01 -2.19864775e-01 -4.18788043e-03 4.65521589e+01] [ 2.19862889e-01 9.75530358e-01 -9.11158387e-04 4.50057773e+00] [ 4.28573613e-03 -3.19050125e-05 9.99990816e-01 -2.37648898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.688623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:46.58, Y:4.51, Z:-0.03 [[ 9.75371073e-01 -2.20530570e-01 -4.18780874e-03 4.65798870e+01] [ 2.20528689e-01 9.75380063e-01 -9.11487755e-04 4.50718977e+00] [ 4.28571606e-03 -3.44931808e-05 9.99990816e-01 -2.86358218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.718623853000004 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:46.61, Y:4.51, Z:-0.03 [[ 9.75237436e-01 -2.21120798e-01 -4.18764729e-03 4.66065829e+01] [ 2.21118919e-01 9.75246426e-01 -9.12228903e-04 4.51451651e+00] [ 4.28570083e-03 -3.63282659e-05 9.99990816e-01 -2.60404545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748623853000005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:46.63, Y:4.52, Z:-0.03 [[ 9.75180408e-01 -2.21372166e-01 -4.18748262e-03 4.66336176e+01] [ 2.21370286e-01 9.75189398e-01 -9.12984182e-04 4.51996336e+00] [ 4.28569794e-03 -3.66599388e-05 9.99990816e-01 -2.85876719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.778623853000006 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:46.66, Y:4.53, Z:-0.03 [[ 9.75022268e-01 -2.22067654e-01 -4.18731693e-03 4.66608708e+01] [ 2.22065778e-01 9.75031259e-01 -9.13743474e-04 4.52548413e+00] [ 4.28567776e-03 -3.89395553e-05 9.99990816e-01 -2.85259174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:46.69, Y:4.53, Z:-0.03 [[ 9.74921460e-01 -2.22509807e-01 -4.18714953e-03 4.66872511e+01] [ 2.22507931e-01 9.74930451e-01 -9.14509914e-04 4.53132901e+00] [ 4.28566700e-03 -4.00986391e-05 9.99990816e-01 -2.87870360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.838623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:46.71, Y:4.54, Z:-0.03 [[ 9.74901721e-01 -2.22596279e-01 -4.18707695e-03 4.67146274e+01] [ 2.22594403e-01 9.74910711e-01 -9.14842075e-04 4.53738178e+00] [ 4.28566661e-03 -4.01387805e-05 9.99990816e-01 -2.83371966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.868623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:46.74, Y:4.54, Z:-0.03 [[ 9.75136297e-01 -2.21566405e-01 -4.18702533e-03 4.67425868e+01] [ 2.21564518e-01 9.75145285e-01 -9.15078302e-04 4.54419092e+00] [ 4.28570862e-03 -3.53701829e-05 9.99990816e-01 -2.62779715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.898623853000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:46.77, Y:4.55, Z:-0.03 [[ 9.75360307e-01 -2.20578199e-01 -4.18688133e-03 4.67700453e+01] [ 2.20576300e-01 9.75369293e-01 -9.15736666e-04 4.55084031e+00] [ 4.28574703e-03 -3.03535978e-05 9.99990816e-01 -2.56868449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928623853000005 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:46.80, Y:4.56, Z:-0.03 [[ 9.75492915e-01 -2.19991006e-01 -4.18683010e-03 4.67966973e+01] [ 2.19989101e-01 9.75501900e-01 -9.15970848e-04 4.55769253e+00] [ 4.28576606e-03 -2.75339160e-05 9.99990816e-01 -2.63745595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.958623853000006 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:46.82, Y:4.56, Z:-0.03 [[ 9.75613522e-01 -2.19455526e-01 -4.18666692e-03 4.68237664e+01] [ 2.19453613e-01 9.75622505e-01 -9.16716116e-04 4.56430087e+00] [ 4.28578488e-03 -2.44185431e-05 9.99990816e-01 -2.60585444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988623853 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:46.85, Y:4.57, Z:-0.02 [[ 9.75626898e-01 -2.19396055e-01 -4.18650388e-03 4.68510236e+01] [ 2.19394138e-01 9.75635880e-01 -9.17460090e-04 4.57148997e+00] [ 4.28579052e-03 -2.33956675e-05 9.99990816e-01 -1.91303320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.018623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:46.88, Y:4.58, Z:-0.03 [[ 9.75592155e-01 -2.19550499e-01 -4.18632655e-03 4.68778091e+01] [ 2.19548580e-01 9.75601137e-01 -9.18268515e-04 4.57762469e+00] [ 4.28579125e-03 -2.32464899e-05 9.99990816e-01 -2.55681149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.048623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:46.90, Y:4.58, Z:-0.03 [[ 9.75423909e-01 -2.20296785e-01 -4.18620550e-03 4.69046514e+01] [ 2.20294870e-01 9.75432892e-01 -9.18820026e-04 4.58452410e+00] [ 4.28577563e-03 -2.59605748e-05 9.99990816e-01 -2.64725175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.078623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:46.93, Y:4.59, Z:-0.03 [[ 9.75264065e-01 -2.21003348e-01 -4.18604428e-03 4.69320252e+01] [ 2.21001437e-01 9.75273049e-01 -9.19553954e-04 4.59044760e+00] [ 4.28576066e-03 -2.83138712e-05 9.99990816e-01 -2.65450979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108623853000005 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:46.96, Y:4.60, Z:-0.02 [[ 9.75115944e-01 -2.21655983e-01 -4.18588377e-03 4.69598438e+01] [ 2.21654075e-01 9.75124927e-01 -9.20284024e-04 4.59649980e+00] [ 4.28574606e-03 -3.04345688e-05 9.99990816e-01 -2.39403748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.138623853000006 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:46.99, Y:4.60, Z:-0.02 [[ 9.75002589e-01 -2.22154071e-01 -4.18570969e-03 4.69867176e+01] [ 2.22152164e-01 9.75011573e-01 -9.21075091e-04 4.60304958e+00] [ 4.28573597e-03 -3.18138671e-05 9.99990816e-01 -2.46083993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16862385300001 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:47.01, Y:4.61, Z:-0.03 [[ 9.75080378e-01 -2.21812391e-01 -4.18553556e-03 4.70132565e+01] [ 2.21810477e-01 9.75089361e-01 -9.21865674e-04 4.61066301e+00] [ 4.28575243e-03 -2.95025117e-05 9.99990816e-01 -2.65582710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.198623853 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:47.04, Y:4.62, Z:-0.03 [[ 9.75226971e-01 -2.21166990e-01 -4.18548149e-03 4.70401001e+01] [ 2.21165070e-01 9.75235952e-01 -9.22111124e-04 4.61648792e+00] [ 4.28577257e-03 -2.64146667e-05 9.99990816e-01 -2.63486014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.228623853 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:47.07, Y:4.62, Z:-0.02 [[ 9.75525462e-01 -2.19846662e-01 -4.18540614e-03 4.70662191e+01] [ 2.19844728e-01 9.75534441e-01 -9.22453013e-04 4.62364364e+00] [ 4.28580605e-03 -2.02630714e-05 9.99990816e-01 -1.95335120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.258623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:47.09, Y:4.63, Z:-0.03 [[ 9.75645220e-01 -2.19314588e-01 -4.18528921e-03 4.70941364e+01] [ 2.19312647e-01 9.75654196e-01 -9.22983233e-04 4.62993070e+00] [ 4.28581867e-03 -1.73826743e-05 9.99990816e-01 -2.56272430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288623853000004 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:47.12, Y:4.64, Z:-0.03 [[ 9.75656652e-01 -2.19263727e-01 -4.18513858e-03 4.71210530e+01] [ 2.19261782e-01 9.75665628e-01 -9.23665725e-04 4.63692259e+00] [ 4.28582225e-03 -1.64603324e-05 9.99990816e-01 -2.54738054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.318623853000005 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:47.15, Y:4.64, Z:-0.02 [[ 9.75624682e-01 -2.19405939e-01 -4.18496584e-03 4.71477603e+01] [ 2.19403992e-01 9.75633658e-01 -9.24447736e-04 4.64445621e+00] [ 4.28582285e-03 -1.62841818e-05 9.99990816e-01 -1.60163949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:47.17, Y:4.65, Z:-0.02 [[ 9.75742612e-01 -2.18880886e-01 -4.18478851e-03 4.71741958e+01] [ 2.18878931e-01 9.75751586e-01 -9.25249752e-04 4.65160253e+00] [ 4.28583351e-03 -1.31564251e-05 9.99990816e-01 -2.38657923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.378623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:47.20, Y:4.66, Z:-0.02 [[ 9.75758792e-01 -2.18808746e-01 -4.18472237e-03 4.72011329e+01] [ 2.18806788e-01 9.75767766e-01 -9.25548783e-04 4.65867324e+00] [ 4.28583537e-03 -1.25332997e-05 9.99990816e-01 -2.30141548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.408623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:47.23, Y:4.67, Z:-0.02 [[ 9.75846174e-01 -2.18418712e-01 -4.18454790e-03 4.72278443e+01] [ 2.18416747e-01 9.75855146e-01 -9.26336917e-04 4.66556522e+00] [ 4.28584192e-03 -1.00130065e-05 9.99990816e-01 -2.37843136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.438623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:47.25, Y:4.67, Z:-0.03 [[ 9.76161207e-01 -2.17006426e-01 -4.18437366e-03 4.72548457e+01] [ 2.17004446e-01 9.76170175e-01 -9.27123343e-04 4.67226425e+00] [ 4.28585249e-03 -3.00584388e-06 9.99990816e-01 -2.65632677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468623853000004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:47.28, Y:4.68, Z:-0.03 [[ 9.76249432e-01 -2.16609182e-01 -4.18431955e-03 4.72818310e+01] [ 2.16607197e-01 9.76258399e-01 -9.27367480e-04 4.67902976e+00] [ 4.28585342e-03 -1.01175391e-06 9.99990816e-01 -2.71241056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.498623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:47.31, Y:4.69, Z:-0.03 [[ 9.76340114e-01 -2.16200079e-01 -4.18414700e-03 4.73085145e+01] [ 2.16198087e-01 9.76349080e-01 -9.28145359e-04 4.68611656e+00] [ 4.28585317e-03 1.58096924e-06 9.99990816e-01 -2.67311370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528623853000006 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:47.33, Y:4.69, Z:-0.03 [[ 9.76464622e-01 -2.15637047e-01 -4.18397422e-03 4.73342425e+01] [ 2.15635046e-01 9.76473586e-01 -9.28923586e-04 4.69445318e+00] [ 4.28585064e-03 4.84954523e-06 9.99990816e-01 -2.81932757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.558623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:47.36, Y:4.70, Z:-0.03 [[ 9.76462997e-01 -2.15644407e-01 -4.18389891e-03 4.73617963e+01] [ 2.15642405e-01 9.76471960e-01 -9.29262631e-04 4.70168082e+00] [ 4.28585026e-03 5.16454921e-06 9.99990816e-01 -2.85782546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.588623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:47.39, Y:4.71, Z:-0.03 [[ 9.76407249e-01 -2.15896689e-01 -4.18372808e-03 4.73877074e+01] [ 2.15894686e-01 9.76416212e-01 -9.30031131e-04 4.70855037e+00] [ 4.28585056e-03 4.84447969e-06 9.99990816e-01 -2.91876331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.618623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:47.41, Y:4.72, Z:-0.03 [[ 9.76264531e-01 -2.16541135e-01 -4.18365357e-03 4.74142524e+01] [ 2.16539137e-01 9.76273495e-01 -9.30366191e-04 4.71601160e+00] [ 4.28585264e-03 2.35878198e-06 9.99990816e-01 -2.66976678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648623853000004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:47.44, Y:4.72, Z:-0.03 [[ 9.76116321e-01 -2.17208255e-01 -4.18347850e-03 4.74413312e+01] [ 2.17206259e-01 9.76125286e-01 -9.31152708e-04 4.72287100e+00] [ 4.28585321e-03 2.35640438e-07 9.99990816e-01 -2.53210323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.678623853000005 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:47.47, Y:4.73, Z:-0.02 [[ 9.75981019e-01 -2.17815406e-01 -4.18330152e-03 4.74678802e+01] [ 2.17813413e-01 9.75989984e-01 -9.31947168e-04 4.72983660e+00] [ 4.28585283e-03 -1.61643227e-06 9.99990816e-01 -2.10029307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708623853000006 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:47.49, Y:4.74, Z:-0.02 [[ 9.75639427e-01 -2.19340395e-01 -4.18318097e-03 4.74944067e+01] [ 2.19338413e-01 9.75648395e-01 -9.32487934e-04 4.73761794e+00] [ 4.28584607e-03 -7.76027929e-06 9.99990816e-01 -1.75608179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.738623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:47.52, Y:4.74, Z:-0.02 [[ 9.75396383e-01 -2.20418689e-01 -4.18300635e-03 4.75227391e+01] [ 2.20416714e-01 9.75405352e-01 -9.33270592e-04 4.74450277e+00] [ 4.28583707e-03 -1.16957548e-05 9.99990816e-01 -2.17444971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.768623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:47.55, Y:4.75, Z:-0.02 [[ 9.75080048e-01 -2.21813895e-01 -4.18284712e-03 4.75497077e+01] [ 2.21811929e-01 9.75089019e-01 -9.33983701e-04 4.75149404e+00] [ 4.28581886e-03 -1.70965188e-05 9.99990816e-01 -1.75990274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.798623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:47.58, Y:4.76, Z:-0.02 [[ 9.74372863e-01 -2.24900041e-01 -4.18266466e-03 4.75768388e+01] [ 2.24898100e-01 9.74381840e-01 -9.34800114e-04 4.75731688e+00] [ 4.28574907e-03 -2.98294712e-05 9.99990816e-01 -2.06139043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:47.60, Y:4.76, Z:-0.02 [[ 9.73936154e-01 -2.26783758e-01 -4.18257997e-03 4.76039792e+01] [ 2.26781833e-01 9.73945135e-01 -9.35178902e-04 4.76363366e+00] [ 4.28568680e-03 -3.77286092e-05 9.99990816e-01 -1.82398803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.858623853000005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:47.63, Y:4.77, Z:-0.02 [[ 9.73483248e-01 -2.28720078e-01 -4.18240230e-03 4.76305208e+01] [ 2.28718168e-01 9.73492231e-01 -9.35972795e-04 4.76979413e+00] [ 4.28561192e-03 -4.54375556e-05 9.99990816e-01 -1.72159238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888623853000006 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:47.66, Y:4.77, Z:-0.02 [[ 9.72470962e-01 -2.32986556e-01 -4.18232532e-03 4.76584646e+01] [ 2.32984684e-01 9.72479954e-01 -9.36316673e-04 4.77386555e+00] [ 4.28537673e-03 -6.38769653e-05 9.99990816e-01 -1.96197649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:47.69, Y:4.78, Z:-0.02 [[ 9.71996695e-01 -2.34957305e-01 -4.18216259e-03 4.76860582e+01] [ 2.34955447e-01 9.72005689e-01 -9.37042959e-04 4.77832619e+00] [ 4.28525092e-03 -7.18192212e-05 9.99990816e-01 -1.96332805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.948623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:47.71, Y:4.78, Z:-0.02 [[ 9.71499224e-01 -2.37005843e-01 -4.18199486e-03 4.77133965e+01] [ 2.37004001e-01 9.71508221e-01 -9.37790924e-04 4.78251136e+00] [ 4.28510432e-03 -8.00863601e-05 9.99990816e-01 -1.99447209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.978623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:47.74, Y:4.79, Z:-0.02 [[ 9.71061899e-01 -2.38791331e-01 -4.18182590e-03 4.77409294e+01] [ 2.38789503e-01 9.71070900e-01 -9.38543767e-04 4.78657761e+00] [ 4.28496555e-03 -8.71920331e-05 9.99990816e-01 -1.89258545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.77, Y:4.79, Z:-0.02 [[ 9.70588108e-01 -2.40709864e-01 -4.18165080e-03 4.77693985e+01] [ 2.40708050e-01 9.70597111e-01 -9.39323257e-04 4.78829494e+00] [ 4.28480256e-03 -9.48610250e-05 9.99990816e-01 -2.17415345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.038623853000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:47.80, Y:4.79, Z:-0.02 [[ 9.70443722e-01 -2.41291312e-01 -4.18159653e-03 4.77969366e+01] [ 2.41289502e-01 9.70452726e-01 -9.39564800e-04 4.79333829e+00] [ 4.28475057e-03 -9.71805839e-05 9.99990816e-01 -1.80724479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068623853000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:47.82, Y:4.80, Z:-0.02 [[ 9.70397213e-01 -2.41478290e-01 -4.18141484e-03 4.78246960e+01] [ 2.41476479e-01 9.70406217e-01 -9.40372687e-04 4.79976678e+00] [ 4.28475054e-03 -9.71782971e-05 9.99990816e-01 -1.79503798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:47.85, Y:4.80, Z:-0.02 [[ 9.70507319e-01 -2.41035392e-01 -4.18123350e-03 4.78520088e+01] [ 2.41033573e-01 9.70516322e-01 -9.41178309e-04 4.80412588e+00] [ 4.28481264e-03 -9.43972124e-05 9.99990816e-01 -2.30757249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:47.88, Y:4.81, Z:-0.02 [[ 9.70658154e-01 -2.40427255e-01 -4.18117720e-03 4.78787752e+01] [ 2.40425429e-01 9.70667155e-01 -9.41428350e-04 4.80806685e+00] [ 4.28487641e-03 -9.14562191e-05 9.99990816e-01 -2.32967737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.158623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:47.91, Y:4.81, Z:-0.02 [[ 9.71037830e-01 -2.38889201e-01 -4.18110806e-03 4.79062322e+01] [ 2.38887359e-01 9.71046828e-01 -9.41735302e-04 4.80911098e+00] [ 4.28502212e-03 -8.43532594e-05 9.99990816e-01 -2.24189529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.188623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:47.93, Y:4.81, Z:-0.02 [[ 9.71272046e-01 -2.37935140e-01 -4.18103905e-03 4.79330203e+01] [ 2.37933289e-01 9.71281042e-01 -9.42041607e-04 4.81313747e+00] [ 4.28510877e-03 -7.98296908e-05 9.99990816e-01 -2.19519088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.218623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.96, Y:4.82, Z:-0.02 [[ 9.71584471e-01 -2.36656155e-01 -4.18097058e-03 4.79612316e+01] [ 2.36654290e-01 9.71593464e-01 -9.42345385e-04 4.81756814e+00] [ 4.28521552e-03 -7.38764837e-05 9.99990816e-01 -1.66880566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248623853000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:47.99, Y:4.82, Z:-0.01 [[ 9.71925027e-01 -2.35253613e-01 -4.18081483e-03 4.79894423e+01] [ 2.35251732e-01 9.71934017e-01 -9.43035877e-04 4.82207890e+00] [ 4.28532875e-03 -6.69837597e-05 9.99990816e-01 -1.42555864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.278623853000006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:48.02, Y:4.83, Z:-0.01 [[ 9.72955197e-01 -2.30956070e-01 -4.18065409e-03 4.80169126e+01] [ 2.30954147e-01 9.72964178e-01 -9.43747949e-04 4.82526532e+00] [ 4.28559098e-03 -4.73149247e-05 9.99990816e-01 -1.47658013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.04, Y:4.83, Z:-0.02 [[ 9.73576150e-01 -2.28324340e-01 -4.18047206e-03 4.80437894e+01] [ 2.28322389e-01 9.73585124e-01 -9.44553560e-04 4.83084765e+00] [ 4.28570998e-03 -3.49005491e-05 9.99990816e-01 -1.51338357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.338623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.07, Y:4.84, Z:-0.01 [[ 9.74230131e-01 -2.25517576e-01 -4.18039527e-03 4.80709922e+01] [ 2.25515598e-01 9.74239099e-01 -9.44893316e-04 4.83692249e+00] [ 4.28579457e-03 -2.22007983e-05 9.99990816e-01 -1.33069819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.368623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:48.10, Y:4.84, Z:-0.01 [[ 9.75631065e-01 -2.19377644e-01 -4.18020903e-03 4.80978961e+01] [ 2.19375606e-01 9.75640020e-01 -9.45716500e-04 4.84236037e+00] [ 4.28584828e-03 5.63450693e-06 9.99990816e-01 -1.29420290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.398623853000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:48.12, Y:4.85, Z:-0.01 [[ 9.76213858e-01 -2.16769532e-01 -4.18008215e-03 4.81244858e+01] [ 2.16767467e-01 9.76222807e-01 -9.46276995e-04 4.84849052e+00] [ 4.28581555e-03 1.76628960e-05 9.99990816e-01 -1.31090032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428623853000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:48.15, Y:4.86, Z:-0.01 [[ 9.77318156e-01 -2.11735093e-01 -4.18000411e-03 4.81515033e+01] [ 2.11732981e-01 9.77327094e-01 -9.46621610e-04 4.85551890e+00] [ 4.28566428e-03 4.01057584e-05 9.99990816e-01 -1.24114472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.458623853000006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:48.18, Y:4.86, Z:-0.01 [[ 9.77762408e-01 -2.09674038e-01 -4.17982173e-03 4.81791813e+01] [ 2.09671903e-01 9.77771341e-01 -9.47426220e-04 4.86226755e+00] [ 4.28556058e-03 4.99665663e-05 9.99990816e-01 -1.19139017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:48.21, Y:4.87, Z:-0.01 [[ 9.78200302e-01 -2.07621529e-01 -4.17963685e-03 4.82050810e+01] [ 2.07619372e-01 9.78209230e-01 -9.48241143e-04 4.86862317e+00] [ 4.28543462e-03 5.97961943e-05 9.99990816e-01 -1.27297609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.518623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.23, Y:4.88, Z:-0.01 [[ 9.78548753e-01 -2.05972980e-01 -4.17955662e-03 4.82317742e+01] [ 2.05970807e-01 9.78557677e-01 -9.48594627e-04 4.87556493e+00] [ 4.28532208e-03 6.73794415e-05 9.99990816e-01 -1.24937965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.548623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:48.26, Y:4.88, Z:-0.00 [[ 9.79279314e-01 -2.02471125e-01 -4.17950171e-03 4.82582556e+01] [ 2.02468919e-01 9.79288230e-01 -9.48836476e-04 4.88428009e+00] [ 4.28504882e-03 8.29567389e-05 9.99990816e-01 -4.82848576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.578623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:48.28, Y:4.89, Z:-0.01 [[ 9.79589071e-01 -2.00967126e-01 -4.17931520e-03 4.82844509e+01] [ 2.00964903e-01 9.79597982e-01 -9.49657310e-04 4.89092709e+00] [ 4.28489863e-03 9.03782505e-05 9.99990816e-01 -1.47160252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.31, Y:4.90, Z:-0.01 [[ 9.80032296e-01 -1.98794449e-01 -4.17923430e-03 4.83114506e+01] [ 1.98792205e-01 9.80041202e-01 -9.50013168e-04 4.90035663e+00] [ 4.28467915e-03 1.00244385e-04 9.99990816e-01 -9.48739011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.638623853000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.34, Y:4.91, Z:-0.01 [[ 9.80167975e-01 -1.98124395e-01 -4.17905275e-03 4.83375609e+01] [ 1.98122140e-01 9.80176879e-01 -9.50811162e-04 4.90918831e+00] [ 4.28458976e-03 1.03991777e-04 9.99990816e-01 -9.26814300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.36, Y:4.92, Z:-0.01 [[ 9.80216502e-01 -1.97884172e-01 -4.17899657e-03 4.83634798e+01] [ 1.97881914e-01 9.80225404e-01 -9.51057985e-04 4.91787875e+00] [ 4.28455793e-03 1.05294890e-04 9.99990816e-01 -1.02481576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.698623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:48.39, Y:4.93, Z:-0.01 [[ 9.80172789e-01 -1.98100580e-01 -4.17891916e-03 4.83908194e+01] [ 1.98098323e-01 9.80181692e-01 -9.51398016e-04 4.92588522e+00] [ 4.28457255e-03 1.04697570e-04 9.99990816e-01 -1.03790621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.728623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.42, Y:4.93, Z:-0.01 [[ 9.80025783e-01 -1.98826563e-01 -4.17874100e-03 4.84167218e+01] [ 1.98824309e-01 9.80034687e-01 -9.52179875e-04 4.93337008e+00] [ 4.28462978e-03 1.02325536e-04 9.99990816e-01 -1.04727786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.758623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:48.44, Y:4.94, Z:-0.01 [[ 9.79519438e-01 -2.01306256e-01 -4.17866340e-03 4.84426473e+01] [ 2.01304023e-01 9.79528347e-01 -9.52520303e-04 4.94406432e+00] [ 4.28486755e-03 9.18303971e-05 9.99990816e-01 -1.11972929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.47, Y:4.95, Z:-0.01 [[ 9.79163406e-01 -2.03030947e-01 -4.17848495e-03 4.84690635e+01] [ 2.03028727e-01 9.79172317e-01 -9.53302499e-04 4.95285094e+00] [ 4.28500670e-03 8.50864420e-05 9.99990816e-01 -1.16699454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.818623853000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:48.50, Y:4.96, Z:-0.01 [[ 9.78776994e-01 -2.04885671e-01 -4.17830622e-03 4.84963930e+01] [ 2.04883464e-01 9.78785909e-01 -9.54085234e-04 4.96107702e+00] [ 4.28514564e-03 7.77708237e-05 9.99990816e-01 -5.49887953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:48.52, Y:4.97, Z:-0.01 [[ 9.77871173e-01 -2.09166233e-01 -4.17813702e-03 4.85229699e+01] [ 2.09164062e-01 9.77880097e-01 -9.54825602e-04 4.96992186e+00] [ 4.28543431e-03 5.97803211e-05 9.99990816e-01 -1.11050207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.878623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.55, Y:4.98, Z:-0.01 [[ 9.77415139e-01 -2.11286986e-01 -4.17808093e-03 4.85494521e+01] [ 2.11284834e-01 9.77424067e-01 -9.55070974e-04 4.97840572e+00] [ 4.28555093e-03 5.07356934e-05 9.99990816e-01 -1.03929437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.908623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.58, Y:4.99, Z:-0.01 [[ 9.76927194e-01 -2.13531738e-01 -4.17790396e-03 4.85760180e+01] [ 2.13529603e-01 9.76936126e-01 -9.55844511e-04 4.98687906e+00] [ 4.28564845e-03 4.16843208e-05 9.99990816e-01 -1.01026935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.938623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.60, Y:5.00, Z:-0.01 [[ 9.75938578e-01 -2.18005594e-01 -4.17772710e-03 4.86013185e+01] [ 2.18003496e-01 9.75947519e-01 -9.56616899e-04 4.99577815e+00] [ 4.28579023e-03 2.28402232e-05 9.99990816e-01 -1.06700965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.63, Y:5.00, Z:-0.01 [[ 9.75384829e-01 -2.20469915e-01 -4.17765018e-03 4.86286119e+01] [ 2.20467839e-01 9.75393775e-01 -9.56952674e-04 5.00399067e+00] [ 4.28583326e-03 1.23596138e-05 9.99990816e-01 -9.92754376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.998623853000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.66, Y:5.01, Z:-0.01 [[ 9.74831470e-01 -2.22903911e-01 -4.17746822e-03 4.86556740e+01] [ 2.22901854e-01 9.74840421e-01 -9.57746350e-04 5.01243046e+00] [ 4.28585029e-03 2.47587193e-06 9.99990816e-01 -9.71220586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028623853000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.68, Y:5.02, Z:-0.01 [[ 9.73691488e-01 -2.27832035e-01 -4.17728660e-03 4.86813915e+01] [ 2.27830019e-01 9.73700449e-01 -9.58537837e-04 5.02208728e+00] [ 4.28581146e-03 -1.83911551e-05 9.99990816e-01 -1.06585290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.058623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.71, Y:5.03, Z:-0.01 [[ 9.73028389e-01 -2.30647576e-01 -4.17720773e-03 4.87083470e+01] [ 2.30645585e-01 9.73037355e-01 -9.58881412e-04 5.02928951e+00] [ 4.28574284e-03 -3.04356862e-05 9.99990816e-01 -1.03300105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.74, Y:5.04, Z:-0.01 [[ 9.72348778e-01 -2.33496051e-01 -4.17702783e-03 4.87359219e+01] [ 2.33494083e-01 9.72357749e-01 -9.59664479e-04 5.03629184e+00] [ 4.28564324e-03 -4.21826973e-05 9.99990816e-01 -1.02479647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.76, Y:5.04, Z:-0.01 [[ 9.71102054e-01 -2.38628066e-01 -4.17684844e-03 4.87623936e+01] [ 2.38626142e-01 9.71111035e-01 -9.60444590e-04 5.04350974e+00] [ 4.28537265e-03 -6.40155155e-05 9.99990816e-01 -8.96887277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148623853000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:48.79, Y:5.05, Z:-0.01 [[ 9.70520703e-01 -2.40981577e-01 -4.17677066e-03 4.87900016e+01] [ 2.40979673e-01 9.70529687e-01 -9.60782759e-04 5.05026233e+00] [ 4.28521086e-03 -7.40572668e-05 9.99990816e-01 -8.49901076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.178623853000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:48.82, Y:5.06, Z:-0.01 [[ 9.70091076e-01 -2.42705297e-01 -4.17659385e-03 4.88171661e+01] [ 2.42703406e-01 9.70100063e-01 -9.61550746e-04 5.05676726e+00] [ 4.28508741e-03 -8.08817545e-05 9.99990816e-01 -8.09605127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.84, Y:5.06, Z:-0.00 [[ 9.69379978e-01 -2.45530070e-01 -4.17641852e-03 4.88449064e+01] [ 2.45528201e-01 9.69388971e-01 -9.62311652e-04 5.06406857e+00] [ 4.28485050e-03 -9.25828792e-05 9.99990816e-01 -4.44857204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.87, Y:5.07, Z:-0.01 [[ 9.69071087e-01 -2.46746404e-01 -4.17626574e-03 4.88723111e+01] [ 2.46744544e-01 9.69080081e-01 -9.62974223e-04 5.06967050e+00] [ 4.28474637e-03 -9.72803106e-05 9.99990816e-01 -9.81103297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.268623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.90, Y:5.08, Z:-0.01 [[ 9.68662447e-01 -2.48345772e-01 -4.17621157e-03 4.88997034e+01] [ 2.48343926e-01 9.68671444e-01 -9.63209093e-04 5.07544883e+00] [ 4.28458580e-03 -1.04112299e-04 9.99990816e-01 -9.29288679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.298623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.93, Y:5.08, Z:-0.01 [[ 9.68046202e-01 -2.50737138e-01 -4.17603813e-03 4.89268471e+01] [ 2.50735311e-01 9.68055202e-01 -9.63960484e-04 5.07938458e+00] [ 4.28433613e-03 -1.13921934e-04 9.99990816e-01 -8.13164586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:48.95, Y:5.09, Z:-0.00 [[ 9.67793291e-01 -2.51711556e-01 -4.17595104e-03 4.89545519e+01] [ 2.51709736e-01 9.67802293e-01 -9.64337626e-04 5.08571032e+00] [ 4.28422991e-03 -1.17848049e-04 9.99990816e-01 -1.01712586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.358623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.98, Y:5.09, Z:-0.01 [[ 9.67692194e-01 -2.52099941e-01 -4.17578026e-03 4.89827357e+01] [ 2.52098122e-01 9.67701196e-01 -9.65076559e-04 5.09024513e+00] [ 4.28420330e-03 -1.18809309e-04 9.99990816e-01 -8.58066855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.01, Y:5.10, Z:-0.01 [[ 9.67741689e-01 -2.51909879e-01 -4.17561005e-03 4.90096056e+01] [ 2.51908054e-01 9.67750691e-01 -9.65812467e-04 5.09598420e+00] [ 4.28424721e-03 -1.17212814e-04 9.99990816e-01 -8.88708149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41862385300001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.04, Y:5.10, Z:-0.01 [[ 9.68313904e-01 -2.49701319e-01 -4.17549403e-03 4.90369441e+01] [ 2.49699472e-01 9.68322901e-01 -9.66313776e-04 5.10096827e+00] [ 4.28451632e-03 -1.06923591e-04 9.99990816e-01 -7.03353626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.448623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.06, Y:5.11, Z:-0.01 [[ 9.68712837e-01 -2.48149162e-01 -4.17531495e-03 4.90635696e+01] [ 2.48147298e-01 9.68721830e-01 -9.67086959e-04 5.10685773e+00] [ 4.28470055e-03 -9.92635697e-05 9.99990816e-01 -8.55989091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.478623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.09, Y:5.11, Z:-0.01 [[ 9.69231215e-01 -2.46116678e-01 -4.17523703e-03 4.90909262e+01] [ 2.46114794e-01 9.69240204e-01 -9.67423221e-04 5.11254191e+00] [ 4.28490658e-03 -8.99308163e-05 9.99990816e-01 -7.07420960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.12, Y:5.12, Z:-0.01 [[ 9.70571464e-01 -2.40777079e-01 -4.17505591e-03 4.91186213e+01] [ 2.40775142e-01 9.70580442e-01 -9.68204263e-04 5.11791830e+00] [ 4.28534900e-03 -6.55382488e-05 9.99990816e-01 -6.86636015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.538623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.15, Y:5.12, Z:-0.01 [[ 9.71359569e-01 -2.37577690e-01 -4.17487340e-03 4.91451400e+01] [ 2.37575720e-01 9.71368539e-01 -9.68990574e-04 5.12416246e+00] [ 4.28555122e-03 -5.06102868e-05 9.99990816e-01 -6.22813223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.17, Y:5.13, Z:-0.00 [[ 9.72157754e-01 -2.34290145e-01 -4.17479389e-03 4.91719570e+01] [ 2.34288143e-01 9.72166717e-01 -9.69333006e-04 5.13154551e+00] [ 4.28570085e-03 -3.57601111e-05 9.99990816e-01 -6.28931658e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.20, Y:5.14, Z:-0.00 [[ 9.72862855e-01 -2.31344848e-01 -4.17461157e-03 4.91994316e+01] [ 2.31342815e-01 9.72871811e-01 -9.70117597e-04 5.13862394e+00] [ 4.28579362e-03 -2.19750172e-05 9.99990816e-01 -4.22951899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.628623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.23, Y:5.15, Z:-0.00 [[ 9.74172731e-01 -2.25765509e-01 -4.17445068e-03 4.92272713e+01] [ 2.25763422e-01 9.74181675e-01 -9.70809429e-04 5.14749572e+00] [ 4.28584863e-03 3.29780424e-06 9.99990816e-01 -2.99992253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.658623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.25, Y:5.15, Z:-0.00 [[ 9.74723633e-01 -2.23375052e-01 -4.17428981e-03 4.92539741e+01] [ 2.23372940e-01 9.74732572e-01 -9.71500608e-04 5.15375779e+00] [ 4.28582524e-03 1.45212159e-05 9.99990816e-01 -3.67323179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.688623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.28, Y:5.16, Z:-0.00 [[ 9.75610374e-01 -2.19469759e-01 -4.17420981e-03 4.92810417e+01] [ 2.19467609e-01 9.75619303e-01 -9.71844245e-04 5.16022583e+00] [ 4.28573008e-03 3.20374805e-05 9.99990816e-01 -4.25281787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.718623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.31, Y:5.17, Z:-0.00 [[ 9.75953294e-01 -2.17939774e-01 -4.17402485e-03 4.93071724e+01] [ 2.17937607e-01 9.75962219e-01 -9.72637987e-04 5.16727652e+00] [ 4.28566706e-03 3.95722590e-05 9.99990816e-01 -4.62211362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.33, Y:5.17, Z:-0.00 [[ 9.76250702e-01 -2.16603657e-01 -4.17394475e-03 4.93338640e+01] [ 2.16601476e-01 9.76259624e-01 -9.72981602e-04 5.17446540e+00] [ 4.28560511e-03 4.57913787e-05 9.99990816e-01 -4.60528325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.778623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:5.18, Z:-0.01 [[ 9.76526691e-01 -2.15355987e-01 -4.17375853e-03 4.93597408e+01] [ 2.15353792e-01 9.76535609e-01 -9.73779775e-04 5.18166432e+00] [ 4.28553313e-03 5.20872166e-05 9.99990816e-01 -5.38804701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:5.19, Z:-0.00 [[ 9.76974085e-01 -2.13317179e-01 -4.17363175e-03 4.93862280e+01] [ 2.13314963e-01 9.76982997e-01 -9.74322853e-04 5.19156429e+00] [ 4.28540706e-03 6.15900764e-05 9.99990816e-01 -4.46112256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.41, Y:5.20, Z:-0.00 [[ 9.77203748e-01 -2.12262612e-01 -4.17344815e-03 4.94121203e+01] [ 2.12260383e-01 9.77212658e-01 -9.75108636e-04 5.20027590e+00] [ 4.28532547e-03 6.70221099e-05 9.99990816e-01 -4.52587715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.868623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.44, Y:5.21, Z:-0.00 [[ 9.77419778e-01 -2.11265614e-01 -4.17336854e-03 4.94393103e+01] [ 2.11263375e-01 9.77428685e-01 -9.75449239e-04 5.20894435e+00] [ 4.28524901e-03 7.17434560e-05 9.99990816e-01 -4.03067967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:5.22, Z:-0.01 [[ 9.77735184e-01 -2.09801081e-01 -4.17318465e-03 4.94645011e+01] [ 2.09798825e-01 9.77744087e-01 -9.76235361e-04 5.21812489e+00] [ 4.28512185e-03 7.89704263e-05 9.99990816e-01 -6.04099783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.49, Y:5.23, Z:0.00 [[ 9.77818606e-01 -2.09411937e-01 -4.17310497e-03 4.94914873e+01] [ 2.09409676e-01 9.77827507e-01 -9.76575848e-04 5.22675052e+00] [ 4.28508347e-03 8.10254775e-05 9.99990816e-01 2.85140059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.958623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:49.52, Y:5.23, Z:0.00 [[ 9.77779692e-01 -2.09593561e-01 -4.17292398e-03 4.95191790e+01] [ 2.09591298e-01 9.77788593e-01 -9.77348588e-04 5.23343865e+00] [ 4.28508344e-03 8.10230484e-05 9.99990816e-01 2.97347061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.55, Y:5.24, Z:-0.00 [[ 9.77745007e-01 -2.09755310e-01 -4.17274230e-03 4.95462265e+01] [ 2.09753045e-01 9.77753907e-01 -9.78123659e-04 5.24184501e+00] [ 4.28508172e-03 8.11101197e-05 9.99990816e-01 -2.26337504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.57, Y:5.25, Z:-0.00 [[ 9.77602177e-01 -2.10419989e-01 -4.17265689e-03 4.95726723e+01] [ 2.10417728e-01 9.77611079e-01 -9.78487853e-04 5.25060974e+00] [ 4.28512901e-03 7.85708713e-05 9.99990816e-01 -2.36961888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.60, Y:5.26, Z:-0.00 [[ 9.77166645e-01 -2.12433373e-01 -4.17247635e-03 4.95984025e+01] [ 2.12431128e-01 9.77175551e-01 -9.79257109e-04 5.26104350e+00] [ 4.28526877e-03 7.05335258e-05 9.99990816e-01 -4.63716663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.63, Y:5.27, Z:-0.00 [[ 9.76738281e-01 -2.14394312e-01 -4.17239748e-03 4.96252721e+01] [ 2.14392083e-01 9.76747191e-01 -9.79593051e-04 5.26961037e+00] [ 4.28539670e-03 6.22770455e-05 9.99990816e-01 -1.36300260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:5.28, Z:-0.00 [[ 9.76305625e-01 -2.16356001e-01 -4.17220798e-03 4.96515825e+01] [ 2.16353786e-01 9.76314538e-01 -9.80399493e-04 5.27731837e+00] [ 4.28550262e-03 5.44965469e-05 9.99990816e-01 -1.94114990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.138623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:5.28, Z:-0.00 [[ 9.75249738e-01 -2.21066826e-01 -4.17214899e-03 4.96783680e+01] [ 2.21064654e-01 9.75258662e-01 -9.80650458e-04 5.28476665e+00] [ 4.28571373e-03 3.40644304e-05 9.99990816e-01 -1.69630039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:5.29, Z:-0.00 [[ 9.74684203e-01 -2.23547085e-01 -4.17196418e-03 4.97050601e+01] [ 2.23544932e-01 9.74693131e-01 -9.81436092e-04 5.29188224e+00] [ 4.28578200e-03 2.39688068e-05 9.99990816e-01 -2.25650465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.73, Y:5.30, Z:-0.00 [[ 9.74122172e-01 -2.25983607e-01 -4.17177924e-03 4.97319906e+01] [ 2.25981473e-01 9.74131105e-01 -9.82221561e-04 5.29945175e+00] [ 4.28582589e-03 1.40589830e-05 9.99990816e-01 -1.59002609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.228623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.76, Y:5.31, Z:-0.00 [[ 9.73009905e-01 -2.30725643e-01 -4.17159163e-03 4.97581746e+01] [ 2.30723549e-01 9.73018848e-01 -9.83017731e-04 5.30879492e+00] [ 4.28584468e-03 -5.99843558e-06 9.99990816e-01 -1.81704118e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:5.32, Z:-0.00 [[ 9.72413529e-01 -2.33226345e-01 -4.17140286e-03 4.97851231e+01] [ 2.33224270e-01 9.72422476e-01 -9.83818108e-04 5.31601484e+00] [ 4.28581820e-03 -1.61943496e-05 9.99990816e-01 -2.33262757e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.81, Y:5.32, Z:-0.00 [[ 9.71829368e-01 -2.35648639e-01 -4.17121321e-03 4.98117565e+01] [ 2.35646584e-01 9.71838319e-01 -9.84621529e-04 5.32278062e+00] [ 4.28576956e-03 -2.60480263e-05 9.99990816e-01 -8.64215399e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.318623853000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.84, Y:5.33, Z:0.01 [[ 9.71276083e-01 -2.37918838e-01 -4.17108396e-03 4.98391680e+01] [ 2.37916801e-01 9.71285038e-01 -9.85168772e-04 5.32999373e+00] [ 4.28570165e-03 -3.55000850e-05 9.99990816e-01 5.27308979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:5.34, Z:0.00 [[ 9.70149711e-01 -2.42470911e-01 -4.17089534e-03 4.98650485e+01] [ 2.42468912e-01 9.70158675e-01 -9.85966664e-04 5.33599121e+00] [ 4.28549853e-03 -5.47771839e-05 9.99990816e-01 7.16574111e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.89, Y:5.34, Z:0.00 [[ 9.69549001e-01 -2.44861877e-01 -4.17076708e-03 4.98919006e+01] [ 2.44859898e-01 9.69557970e-01 -9.86508924e-04 5.34233397e+00] [ 4.28535889e-03 -6.47848604e-05 9.99990816e-01 2.10328141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.408623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:49.92, Y:5.35, Z:0.01 [[ 9.69084446e-01 -2.46694027e-01 -4.17057383e-03 4.99188565e+01] [ 2.46692062e-01 9.69093417e-01 -9.87325260e-04 5.34894132e+00] [ 4.28524289e-03 -7.20459054e-05 9.99990816e-01 8.43785156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.95, Y:5.36, Z:0.00 [[ 9.68493734e-01 -2.49003002e-01 -4.17051406e-03 4.99455237e+01] [ 2.49001057e-01 9.68502710e-01 -9.87577661e-04 5.35503154e+00] [ 4.28506397e-03 -8.19996318e-05 9.99990816e-01 1.00112873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:5.36, Z:0.00 [[ 9.67654824e-01 -2.52243431e-01 -4.17044286e-03 4.99721426e+01] [ 2.52241514e-01 9.67663807e-01 -9.87878239e-04 5.36020219e+00] [ 4.28477241e-03 -9.60336786e-05 9.99990816e-01 3.09944486e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.498623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.00, Y:5.37, Z:0.00 [[ 9.67307275e-01 -2.53572956e-01 -4.17036230e-03 4.99998572e+01] [ 2.53571051e-01 9.67316259e-01 -9.88218199e-04 5.36577019e+00] [ 4.28464467e-03 -1.01572498e-04 9.99990816e-01 1.57853564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.03, Y:5.37, Z:0.00 [[ 9.66829919e-01 -2.55386995e-01 -4.17017606e-03 5.00280169e+01] [ 2.55385104e-01 9.66838906e-01 -9.89003496e-04 5.36985534e+00] [ 4.28446709e-03 -1.08802674e-04 9.99990816e-01 1.04381764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:5.38, Z:0.00 [[ 9.66792866e-01 -2.55527232e-01 -4.16998835e-03 5.00558290e+01] [ 2.55525338e-01 9.66801853e-01 -9.89794316e-04 5.37579888e+00] [ 4.28447186e-03 -1.08611598e-04 9.99990816e-01 1.08873248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.08, Y:5.38, Z:0.00 [[ 9.66824175e-01 -2.55408745e-01 -4.16980080e-03 5.00826054e+01] [ 2.55406846e-01 9.66833161e-01 -9.90583801e-04 5.38212613e+00] [ 4.28450545e-03 -1.07275305e-04 9.99990816e-01 3.07480117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.618623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:50.11, Y:5.39, Z:0.01 [[ 9.67128654e-01 -2.54253381e-01 -4.16960543e-03 5.01088510e+01] [ 2.54251469e-01 9.67137636e-01 -9.91405464e-04 5.38786640e+00] [ 4.28465053e-03 -1.01311672e-04 9.99990816e-01 1.08740428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.14, Y:5.39, Z:0.00 [[ 9.67607786e-01 -2.52423825e-01 -4.16952066e-03 5.01365056e+01] [ 2.52421893e-01 9.67616765e-01 -9.91761844e-04 5.39361815e+00] [ 4.28484241e-03 -9.28418181e-05 9.99990816e-01 3.69540272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.678623853000005 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:50.16, Y:5.40, Z:0.01 [[ 9.68040829e-01 -2.50757988e-01 -4.16946228e-03 5.01639080e+01] [ 2.50756040e-01 9.68049805e-01 -9.92007218e-04 5.39936272e+00] [ 4.28500088e-03 -8.52143613e-05 9.99990816e-01 1.31062777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:5.41, Z:0.00 [[ 9.68287089e-01 -2.49805383e-01 -4.16926990e-03 5.01915611e+01] [ 2.49803423e-01 9.68296062e-01 -9.92815131e-04 5.40513767e+00] [ 4.28509819e-03 -8.01678194e-05 9.99990816e-01 2.18399371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.22, Y:5.41, Z:0.01 [[ 9.68558637e-01 -2.48750447e-01 -4.16921033e-03 5.02186904e+01] [ 2.48748476e-01 9.68567607e-01 -9.93065229e-04 5.41039069e+00] [ 4.28518749e-03 -7.52428095e-05 9.99990816e-01 6.04234290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.768623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.25, Y:5.42, Z:0.01 [[ 9.69060494e-01 -2.46788125e-01 -4.16902012e-03 5.02457171e+01] [ 2.46786133e-01 9.69069459e-01 -9.93863090e-04 5.41502020e+00] [ 4.28534368e-03 -6.57428972e-05 9.99990816e-01 7.26574292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.798623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.27, Y:5.42, Z:0.01 [[ 9.69185998e-01 -2.46294784e-01 -4.16896093e-03 5.02726922e+01] [ 2.46292786e-01 9.69194962e-01 -9.94111337e-04 5.42091711e+00] [ 4.28538037e-03 -6.33062128e-05 9.99990816e-01 7.34947052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.30, Y:5.43, Z:0.01 [[ 9.69333772e-01 -2.45712554e-01 -4.16877190e-03 5.02988226e+01] [ 2.45710547e-01 9.69342735e-01 -9.94903360e-04 5.42575022e+00] [ 4.28542900e-03 -5.99177959e-05 9.99990816e-01 6.55324211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.858623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:5.43, Z:0.00 [[ 9.69628933e-01 -2.44545198e-01 -4.16868960e-03 5.03255781e+01] [ 2.44543179e-01 9.69637893e-01 -9.95248092e-04 5.42883548e+00] [ 4.28550254e-03 -5.44032608e-05 9.99990816e-01 4.66581948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:5.43, Z:0.01 [[ 9.69744996e-01 -2.44084547e-01 -4.16856129e-03 5.03531899e+01] [ 2.44082521e-01 9.69753954e-01 -9.95785215e-04 5.43417691e+00] [ 4.28553458e-03 -5.18152203e-05 9.99990816e-01 5.32706524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:5.44, Z:0.00 [[ 9.69906594e-01 -2.43441621e-01 -4.16837563e-03 5.03798137e+01] [ 2.43439586e-01 9.69915550e-01 -9.96561793e-04 5.43935443e+00] [ 4.28557696e-03 -4.81757833e-05 9.99990816e-01 4.07010309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.948623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.41, Y:5.44, Z:0.00 [[ 9.70335138e-01 -2.41727833e-01 -4.16829456e-03 5.04082258e+01] [ 2.41725781e-01 9.70344090e-01 -9.96900773e-04 5.44247001e+00] [ 4.28565866e-03 -4.02564069e-05 9.99990816e-01 4.79462517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.978623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.44, Y:5.45, Z:0.00 [[ 9.70443452e-01 -2.41292628e-01 -4.16811229e-03 5.04358958e+01] [ 2.41290569e-01 9.70452403e-01 -9.97662275e-04 5.44781129e+00] [ 4.28568314e-03 -3.75513614e-05 9.99990816e-01 4.79638845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.46, Y:5.45, Z:0.00 [[ 9.70607057e-01 -2.40633681e-01 -4.16792756e-03 5.04630211e+01] [ 2.40631613e-01 9.70616006e-01 -9.98433408e-04 5.45281023e+00] [ 4.28571391e-03 -3.38486186e-05 9.99990816e-01 4.27027676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.038623853000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:50.49, Y:5.46, Z:0.00 [[ 9.71004986e-01 -2.39022900e-01 -4.16774376e-03 5.04897144e+01] [ 2.39020812e-01 9.71013930e-01 -9.99200070e-04 5.45615929e+00] [ 4.28576895e-03 -2.59492491e-05 9.99990816e-01 4.81959863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.52, Y:5.46, Z:0.01 [[ 9.71232598e-01 -2.38096347e-01 -4.16766366e-03 5.05170433e+01] [ 2.38094250e-01 9.71241540e-01 -9.99534051e-04 5.46157898e+00] [ 4.28579348e-03 -2.15166981e-05 9.99990816e-01 5.14915990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.54, Y:5.47, Z:0.00 [[ 9.71392314e-01 -2.37443896e-01 -4.16748162e-03 5.05431784e+01] [ 2.37441789e-01 9.71401254e-01 -1.00029249e-03 5.46652585e+00] [ 4.28581022e-03 -1.78578511e-05 9.99990816e-01 4.24176619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.128623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.57, Y:5.47, Z:0.00 [[ 9.71582490e-01 -2.36664525e-01 -4.16735751e-03 5.05708211e+01] [ 2.36662409e-01 9.71591428e-01 -1.00080928e-03 5.46992036e+00] [ 4.28582489e-03 -1.38880961e-05 9.99990816e-01 4.02050423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.158623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.60, Y:5.47, Z:0.00 [[ 9.71576277e-01 -2.36690034e-01 -4.16717061e-03 5.05982188e+01] [ 2.36687915e-01 9.71585214e-01 -1.00158689e-03 5.47481262e+00] [ 4.28582698e-03 -1.32008610e-05 9.99990816e-01 3.83316760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.63, Y:5.48, Z:0.00 [[ 9.71509123e-01 -2.36965527e-01 -4.16698286e-03 5.06256847e+01] [ 2.36963408e-01 9.71518059e-01 -1.00236738e-03 5.48006701e+00] [ 4.28582562e-03 -1.36134095e-05 9.99990816e-01 4.59428454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.218623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.65, Y:5.48, Z:0.00 [[ 9.71532305e-01 -2.36870467e-01 -4.16678558e-03 5.06523171e+01] [ 2.36868343e-01 9.71541240e-01 -1.00318680e-03 5.48354122e+00] [ 4.28582936e-03 -1.23512132e-05 9.99990816e-01 3.70478264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:5.49, Z:0.00 [[ 9.71477928e-01 -2.37093386e-01 -4.16669954e-03 5.06794019e+01] [ 2.37091262e-01 9.71486864e-01 -1.00354404e-03 5.48877911e+00] [ 4.28582752e-03 -1.29671678e-05 9.99990816e-01 2.66073444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.278623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.71, Y:5.49, Z:0.01 [[ 9.71319611e-01 -2.37741144e-01 -4.16664177e-03 5.07072479e+01] [ 2.37739025e-01 9.71328548e-01 -1.00378386e-03 5.49448699e+00] [ 4.28581882e-03 -1.55784064e-05 9.99990816e-01 6.17817479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.73, Y:5.50, Z:0.00 [[ 9.71181526e-01 -2.38304604e-01 -4.16644752e-03 5.07336978e+01] [ 2.38302487e-01 9.71190463e-01 -1.00458946e-03 5.49952644e+00] [ 4.28581239e-03 -1.72360825e-05 9.99990816e-01 3.68789502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.76, Y:5.51, Z:0.01 [[ 9.70889368e-01 -2.39492122e-01 -4.16636295e-03 5.07611479e+01] [ 2.39490014e-01 9.70898307e-01 -1.00494011e-03 5.50510830e+00] [ 4.28578997e-03 -2.21166540e-05 9.99990816e-01 6.26745718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.368623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.79, Y:5.51, Z:0.01 [[ 9.70603340e-01 -2.40648704e-01 -4.16617107e-03 5.07888427e+01] [ 2.40646604e-01 9.70612281e-01 -1.00573492e-03 5.50972108e+00] [ 4.28576562e-03 -2.64052473e-05 9.99990816e-01 6.33504318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.398623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.82, Y:5.51, Z:0.01 [[ 9.70072281e-01 -2.42780588e-01 -4.16598016e-03 5.08169697e+01] [ 2.42778504e-01 9.70081226e-01 -1.00652511e-03 5.51183446e+00] [ 4.28570390e-03 -3.50083227e-05 9.99990816e-01 5.59781246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428623853000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.84, Y:5.52, Z:0.01 [[ 9.69873508e-01 -2.43573448e-01 -4.16579061e-03 5.08444329e+01] [ 2.43571368e-01 9.69882454e-01 -1.00730901e-03 5.51648136e+00] [ 4.28568095e-03 -3.77050007e-05 9.99990816e-01 9.83444808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.458623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.87, Y:5.52, Z:0.01 [[ 9.69676492e-01 -2.44356601e-01 -4.16559338e-03 5.08715154e+01] [ 2.44354525e-01 9.69685439e-01 -1.00812395e-03 5.52113467e+00] [ 4.28565699e-03 -4.03274990e-05 9.99990816e-01 6.31136347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.90, Y:5.53, Z:0.01 [[ 9.69488253e-01 -2.45102376e-01 -4.16553200e-03 5.08988695e+01] [ 2.45100306e-01 9.69497201e-01 -1.00837753e-03 5.52569611e+00] [ 4.28562734e-03 -4.33630000e-05 9.99990816e-01 8.52097094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:5.53, Z:0.01 [[ 9.69470104e-01 -2.45174158e-01 -4.16533289e-03 5.09264621e+01] [ 2.45172085e-01 9.69479051e-01 -1.00919933e-03 5.52833423e+00] [ 4.28563257e-03 -4.28347733e-05 9.99990816e-01 9.08088588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.95, Y:5.53, Z:0.01 [[ 9.69581286e-01 -2.44734100e-01 -4.16527107e-03 5.09545645e+01] [ 2.44732022e-01 9.69590232e-01 -1.00945440e-03 5.53307074e+00] [ 4.28565406e-03 -4.06271095e-05 9.99990816e-01 9.37216773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.578623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.98, Y:5.54, Z:0.01 [[ 9.69658992e-01 -2.44426043e-01 -4.16508632e-03 5.09821770e+01] [ 2.44423958e-01 9.69667937e-01 -1.01021614e-03 5.53776807e+00] [ 4.28567379e-03 -3.84817198e-05 9.99990816e-01 1.16174541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.01, Y:5.54, Z:0.01 [[ 9.70057339e-01 -2.42840304e-01 -4.16488768e-03 5.10106945e+01] [ 2.42838202e-01 9.70066279e-01 -1.01103442e-03 5.53931634e+00] [ 4.28573700e-03 -3.06324735e-05 9.99990816e-01 1.09519521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.638623853000006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:51.04, Y:5.54, Z:0.01 [[ 9.70187958e-01 -2.42317934e-01 -4.16482598e-03 5.10384170e+01] [ 2.42315825e-01 9.70196897e-01 -1.01128852e-03 5.54419921e+00] [ 4.28575458e-03 -2.80632979e-05 9.99990816e-01 1.24617998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.07, Y:5.55, Z:0.01 [[ 9.70416580e-01 -2.41400740e-01 -4.16462723e-03 5.10658883e+01] [ 2.41398620e-01 9.70425516e-01 -1.01210633e-03 5.54904250e+00] [ 4.28578375e-03 -2.31705026e-05 9.99990816e-01 1.21617732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.09, Y:5.55, Z:0.01 [[ 9.70985532e-01 -2.39101973e-01 -4.16442663e-03 5.10937729e+01] [ 2.39099828e-01 9.70994463e-01 -1.01293106e-03 5.55150526e+00] [ 4.28582901e-03 -1.21722858e-05 9.99990816e-01 9.71002215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.728623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.12, Y:5.56, Z:0.01 [[ 9.71231766e-01 -2.38099798e-01 -4.16436419e-03 5.11210002e+01] [ 2.38097643e-01 9.71240694e-01 -1.01318769e-03 5.55657097e+00] [ 4.28583975e-03 -7.48522893e-06 9.99990816e-01 9.74435314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:5.56, Z:0.01 [[ 9.71507415e-01 -2.36972579e-01 -4.16416428e-03 5.11473455e+01] [ 2.36970409e-01 9.71516339e-01 -1.01400863e-03 5.56149873e+00] [ 4.28584588e-03 -1.66681623e-06 9.99990816e-01 8.45548663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.17, Y:5.57, Z:0.01 [[ 9.71822597e-01 -2.35676685e-01 -4.16407766e-03 5.11743581e+01] [ 2.35674503e-01 9.71831518e-01 -1.01436421e-03 5.56610673e+00] [ 4.28584391e-03 4.41512757e-06 9.99990816e-01 7.49363776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.818623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.20, Y:5.57, Z:0.01 [[ 9.72372855e-01 -2.33395998e-01 -4.16399403e-03 5.12027667e+01] [ 2.33393793e-01 9.72381771e-01 -1.01470741e-03 5.56813220e+00] [ 4.28582054e-03 1.48235792e-05 9.99990816e-01 8.47591329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:51.23, Y:5.57, Z:0.02 [[ 9.72695438e-01 -2.32047940e-01 -4.16393494e-03 5.12300212e+01] [ 2.32045722e-01 9.72704350e-01 -1.01494984e-03 5.57284906e+00] [ 4.28579465e-03 2.10137927e-05 9.99990816e-01 1.81076494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.878623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:51.26, Y:5.58, Z:0.02 [[ 9.72651827e-01 -2.32230676e-01 -4.16374401e-03 5.12576660e+01] [ 2.32228456e-01 9.72660739e-01 -1.01573252e-03 5.57979074e+00] [ 4.28579457e-03 2.10142498e-05 9.99990816e-01 1.82297212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.29, Y:5.59, Z:0.01 [[ 9.72867226e-01 -2.31326666e-01 -4.16355304e-03 5.12860814e+01] [ 2.31324434e-01 9.72876134e-01 -1.01651472e-03 5.58581296e+00] [ 4.28576834e-03 2.58023030e-05 9.99990816e-01 1.24132856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:5.59, Z:0.01 [[ 9.73647168e-01 -2.28021619e-01 -4.16338305e-03 5.13135614e+01] [ 2.28019354e-01 9.73656068e-01 -1.01721048e-03 5.59092729e+00] [ 4.28564915e-03 4.10721932e-05 9.99990816e-01 1.28822814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.34, Y:5.60, Z:0.01 [[ 9.74024155e-01 -2.26405859e-01 -4.16318940e-03 5.13404562e+01] [ 2.26403576e-01 9.74033051e-01 -1.01800243e-03 5.59671428e+00] [ 4.28556578e-03 4.89979872e-05 9.99990816e-01 1.13160051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:5.60, Z:0.01 [[ 9.74364536e-01 -2.24936482e-01 -4.16305805e-03 5.13674700e+01] [ 2.24934182e-01 9.74373427e-01 -1.01853928e-03 5.60261190e+00] [ 4.28547978e-03 5.60144909e-05 9.99990816e-01 1.06005710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:5.61, Z:0.01 [[ 9.75086152e-01 -2.21787437e-01 -4.16286279e-03 5.13959931e+01] [ 2.21785106e-01 9.75095035e-01 -1.01933669e-03 5.60812684e+00] [ 4.28526291e-03 7.06801227e-05 9.99990816e-01 7.52623495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.42, Y:5.61, Z:0.01 [[ 9.75408306e-01 -2.20366305e-01 -4.16269230e-03 5.14218583e+01] [ 2.20363958e-01 9.75417185e-01 -1.02003244e-03 5.61479821e+00] [ 4.28514239e-03 7.76407657e-05 9.99990816e-01 6.82979828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.088623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:51.45, Y:5.62, Z:0.01 [[ 9.75703341e-01 -2.19056300e-01 -4.16255983e-03 5.14483008e+01] [ 2.19053939e-01 9.75712217e-01 -1.02057275e-03 5.62202520e+00] [ 4.28502337e-03 8.39511118e-05 9.99990816e-01 6.26269451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.48, Y:5.63, Z:0.01 [[ 9.76078670e-01 -2.17377789e-01 -4.16247673e-03 5.14766574e+01] [ 2.17375411e-01 9.76087541e-01 -1.02091156e-03 5.62943667e+00] [ 4.28486518e-03 9.16699030e-05 9.99990816e-01 8.39529945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.50, Y:5.64, Z:0.01 [[ 9.76022101e-01 -2.17631648e-01 -4.16230829e-03 5.15035770e+01] [ 2.17629270e-01 9.76030971e-01 -1.02159786e-03 5.63563816e+00] [ 4.28487383e-03 9.12619715e-05 9.99990816e-01 9.84854303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.178623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:5.64, Z:0.01 [[ 9.75838519e-01 -2.18453341e-01 -4.16211495e-03 5.15308002e+01] [ 2.18450967e-01 9.75847391e-01 -1.02238491e-03 5.64177204e+00] [ 4.28493242e-03 8.84645441e-05 9.99990816e-01 1.17774307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.56, Y:5.65, Z:0.01 [[ 9.75611622e-01 -2.19464443e-01 -4.16191976e-03 5.15578878e+01] [ 2.19462075e-01 9.75620495e-01 -1.02317891e-03 5.64784015e+00] [ 4.28500560e-03 8.48416945e-05 9.99990816e-01 1.28086886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.59, Y:5.65, Z:0.01 [[ 9.74696074e-01 -2.23495508e-01 -4.16185900e-03 5.15853926e+01] [ 2.23493175e-01 9.74704957e-01 -1.02342599e-03 5.65312590e+00] [ 4.28531571e-03 6.73822143e-05 9.99990816e-01 1.38335462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.268623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.61, Y:5.66, Z:0.01 [[ 9.74057388e-01 -2.26262866e-01 -4.16169137e-03 5.16125217e+01] [ 2.26260555e-01 9.74066277e-01 -1.02410719e-03 5.65923497e+00] [ 4.28548065e-03 5.59125719e-05 9.99990816e-01 1.45772947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.298623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:51.64, Y:5.67, Z:0.01 [[ 9.73358482e-01 -2.29250842e-01 -4.16149920e-03 5.16402213e+01] [ 2.29248555e-01 9.73367377e-01 -1.02488747e-03 5.66558225e+00] [ 4.28562388e-03 4.35652329e-05 9.99990816e-01 1.42341846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:51.67, Y:5.67, Z:0.01 [[ 9.71920571e-01 -2.35272367e-01 -4.16130424e-03 5.16668811e+01] [ 2.35270132e-01 9.71929480e-01 -1.02567847e-03 5.66954318e+00] [ 4.28580806e-03 1.78474089e-05 9.99990816e-01 1.31134118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.358623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.69, Y:5.67, Z:0.01 [[ 9.71201970e-01 -2.38221363e-01 -4.16111010e-03 5.16940178e+01] [ 2.38219152e-01 9.71210884e-01 -1.02646547e-03 5.67399525e+00] [ 4.28584142e-03 5.64916651e-06 9.99990816e-01 1.24677828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.72, Y:5.68, Z:0.01 [[ 9.70511408e-01 -2.41019280e-01 -4.16102647e-03 5.17213799e+01] [ 2.41017093e-01 9.70520328e-01 -1.02680437e-03 5.67910185e+00] [ 4.28584042e-03 -6.35315179e-06 9.99990816e-01 1.35768329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.75, Y:5.68, Z:0.01 [[ 9.70004086e-01 -2.43052999e-01 -4.16083342e-03 5.17475494e+01] [ 2.43050828e-01 9.70013010e-01 -1.02758605e-03 5.68474878e+00] [ 4.28582042e-03 -1.45313369e-05 9.99990816e-01 1.36247740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.78, Y:5.69, Z:0.01 [[ 9.69109342e-01 -2.46596372e-01 -4.16074933e-03 5.17757048e+01] [ 2.46594231e-01 9.69118274e-01 -1.02792642e-03 5.68955259e+00] [ 4.28574113e-03 -2.98436878e-05 9.99990816e-01 1.37378903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.478623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.80, Y:5.69, Z:0.01 [[ 9.68837820e-01 -2.47660993e-01 -4.16055624e-03 5.18030583e+01] [ 2.47658859e-01 9.68846753e-01 -1.02870735e-03 5.69471455e+00] [ 4.28571209e-03 -3.37480232e-05 9.99990816e-01 1.37439930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.83, Y:5.70, Z:0.02 [[ 9.68601923e-01 -2.48581990e-01 -4.16049637e-03 5.18302823e+01] [ 2.48579863e-01 9.68610857e-01 -1.02894945e-03 5.69991564e+00] [ 4.28568026e-03 -3.75732011e-05 9.99990816e-01 1.56863593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.538623853000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:51.86, Y:5.70, Z:0.02 [[ 9.68440087e-01 -2.49211736e-01 -4.16030589e-03 5.18578944e+01] [ 2.49209612e-01 9.68449023e-01 -1.02971905e-03 5.70498478e+00] [ 4.28566224e-03 -3.95670077e-05 9.99990816e-01 2.32015993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:5.71, Z:0.02 [[ 9.68328169e-01 -2.49646249e-01 -4.16011509e-03 5.18860486e+01] [ 2.49644126e-01 9.68337105e-01 -1.03048929e-03 5.70817877e+00] [ 4.28565159e-03 -4.06964856e-05 9.99990816e-01 1.71678739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.91, Y:5.71, Z:0.02 [[ 9.68295760e-01 -2.49771927e-01 -4.16005571e-03 5.19139646e+01] [ 2.49769804e-01 9.68304695e-01 -1.03072894e-03 5.71334882e+00] [ 4.28564863e-03 -4.10058367e-05 9.99990816e-01 1.70951683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.628623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.94, Y:5.72, Z:0.02 [[ 9.68253511e-01 -2.49935661e-01 -4.15986851e-03 5.19412804e+01] [ 2.49933536e-01 9.68262446e-01 -1.03148391e-03 5.71823656e+00] [ 4.28564907e-03 -4.09527292e-05 9.99990816e-01 1.60141790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.658623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:51.97, Y:5.72, Z:0.01 [[ 9.68472532e-01 -2.49085630e-01 -4.15968156e-03 5.19686398e+01] [ 2.49083494e-01 9.68481465e-01 -1.03223730e-03 5.72209764e+00] [ 4.28568996e-03 -3.64145459e-05 9.99990816e-01 1.32429725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.00, Y:5.73, Z:0.01 [[ 9.68624193e-01 -2.48495211e-01 -4.15962347e-03 5.19956775e+01] [ 2.48493068e-01 9.68633124e-01 -1.03247130e-03 5.72799298e+00] [ 4.28571325e-03 -3.35609228e-05 9.99990816e-01 1.27417538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.718623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.02, Y:5.73, Z:0.01 [[ 9.68823528e-01 -2.47716917e-01 -4.15943807e-03 5.20234172e+01] [ 2.47714764e-01 9.68832456e-01 -1.03321766e-03 5.73381516e+00] [ 4.28574410e-03 -2.93486421e-05 9.99990816e-01 1.23615403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.05, Y:5.74, Z:0.01 [[ 9.69075025e-01 -2.46731222e-01 -4.15925260e-03 5.20497808e+01] [ 2.46729056e-01 9.69083951e-01 -1.03396376e-03 5.73864637e+00] [ 4.28577608e-03 -2.42200156e-05 9.99990816e-01 1.24670845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.778623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.08, Y:5.74, Z:0.02 [[ 9.69727691e-01 -2.44153451e-01 -4.15917213e-03 5.20771521e+01] [ 2.44151260e-01 9.69736610e-01 -1.03428735e-03 5.74271724e+00] [ 4.28582631e-03 -1.24900378e-05 9.99990816e-01 2.07240731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.10, Y:5.75, Z:0.02 [[ 9.70099413e-01 -2.42672272e-01 -4.15897389e-03 5.21039565e+01] [ 2.42670064e-01 9.70108328e-01 -1.03508388e-03 5.74879473e+00] [ 4.28584136e-03 -5.12419778e-06 9.99990816e-01 1.57379833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.13, Y:5.75, Z:0.02 [[ 9.70487494e-01 -2.41115591e-01 -4.15891239e-03 5.21301027e+01] [ 2.41113368e-01 9.70496405e-01 -1.03533094e-03 5.75495853e+00] [ 4.28584395e-03 2.00635362e-06 9.99990816e-01 1.56481779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.868623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.16, Y:5.76, Z:0.02 [[ 9.71251397e-01 -2.38019808e-01 -4.15878168e-03 5.21569544e+01] [ 2.38017554e-01 9.71260300e-01 -1.03585570e-03 5.76139360e+00] [ 4.28581372e-03 1.62132526e-05 9.99990816e-01 1.72101956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:5.77, Z:0.02 [[ 9.71664367e-01 -2.36328298e-01 -4.15857971e-03 5.21833296e+01] [ 2.36326026e-01 9.71673266e-01 -1.03666590e-03 5.76782734e+00] [ 4.28577422e-03 2.45107034e-05 9.99990816e-01 1.67533737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:5.77, Z:0.02 [[ 9.72134232e-01 -2.34388017e-01 -4.15849195e-03 5.22093739e+01] [ 2.34385726e-01 9.72143125e-01 -1.03701783e-03 5.77402238e+00] [ 4.28571391e-03 3.34293779e-05 9.99990816e-01 1.51240911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.958623853000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:52.24, Y:5.78, Z:0.01 [[ 9.72965640e-01 -2.30912474e-01 -4.15840499e-03 5.22365139e+01] [ 2.30910149e-01 9.72974525e-01 -1.03736641e-03 5.78103956e+00] [ 4.28556297e-03 4.91039554e-05 9.99990816e-01 1.49426926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:52.26, Y:5.79, Z:0.02 [[ 9.73369430e-01 -2.29204410e-01 -4.15821005e-03 5.22634846e+01] [ 2.29202066e-01 9.73378310e-01 -1.03814722e-03 5.78828540e+00] [ 4.28545940e-03 5.74304259e-05 9.99990816e-01 2.05370620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.018623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.29, Y:5.80, Z:0.02 [[ 9.73605111e-01 -2.28201223e-01 -4.15814954e-03 5.22905777e+01] [ 2.28198869e-01 9.73613988e-01 -1.03838953e-03 5.79629561e+00] [ 4.28539432e-03 6.20963269e-05 9.99990816e-01 1.57293747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.048623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.32, Y:5.80, Z:0.01 [[ 9.73838101e-01 -2.27204898e-01 -4.15795048e-03 5.23160985e+01] [ 2.27202531e-01 9.73846975e-01 -1.03918600e-03 5.80464867e+00] [ 4.28531565e-03 6.73020437e-05 9.99990816e-01 1.49032945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.078623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.34, Y:5.81, Z:0.02 [[ 9.73956990e-01 -2.26694718e-01 -4.15781608e-03 5.23423786e+01] [ 2.26692344e-01 9.73965862e-01 -1.03972348e-03 5.81362860e+00] [ 4.28527074e-03 7.01008808e-05 9.99990816e-01 2.07123410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.37, Y:5.82, Z:0.01 [[ 9.73752909e-01 -2.27569739e-01 -4.15764656e-03 5.23689590e+01] [ 2.27567371e-01 9.73761783e-01 -1.04040089e-03 5.82080195e+00] [ 4.28532109e-03 6.69486948e-05 9.99990816e-01 1.26600075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.138623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.40, Y:5.83, Z:0.01 [[ 9.73401807e-01 -2.29066883e-01 -4.15758809e-03 5.23964891e+01] [ 2.29064527e-01 9.73410684e-01 -1.04063451e-03 5.82797613e+00] [ 4.28541557e-03 6.05995632e-05 9.99990816e-01 1.37783465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:5.83, Z:0.01 [[ 9.72999043e-01 -2.30771704e-01 -4.15739349e-03 5.24231169e+01] [ 2.30769360e-01 9.73007923e-01 -1.04141137e-03 5.83480420e+00] [ 4.28550508e-03 5.38932317e-05 9.99990816e-01 1.24963522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.198623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.45, Y:5.84, Z:0.01 [[ 9.71864923e-01 -2.35502205e-01 -4.15730860e-03 5.24502908e+01] [ 2.35499903e-01 9.71873814e-01 -1.04175015e-03 5.84207564e+00] [ 4.28571382e-03 3.33946586e-05 9.99990816e-01 1.42745589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.228623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.48, Y:5.85, Z:0.01 [[ 9.71221005e-01 -2.38143820e-01 -4.15710998e-03 5.24770027e+01] [ 2.38141539e-01 9.71229901e-01 -1.04254211e-03 5.84885453e+00] [ 4.28578448e-03 2.25582326e-05 9.99990816e-01 1.11217786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.258623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.50, Y:5.86, Z:0.01 [[ 9.70567011e-01 -2.40795339e-01 -4.15704806e-03 5.25043219e+01] [ 2.40793081e-01 9.70575914e-01 -1.04278898e-03 5.85602201e+00] [ 4.28582944e-03 1.11081712e-05 9.99990816e-01 1.42741024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.53, Y:5.86, Z:0.02 [[ 9.69347337e-01 -2.45659236e-01 -4.15685340e-03 5.25317659e+01] [ 2.45657020e-01 9.69356250e-01 -1.04356435e-03 5.86258887e+00] [ 4.28583305e-03 -9.58389129e-06 9.99990816e-01 1.52048774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.318623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:52.56, Y:5.87, Z:0.02 [[ 9.68734876e-01 -2.48063422e-01 -4.15665206e-03 5.25579805e+01] [ 2.48061224e-01 9.68743794e-01 -1.04436571e-03 5.86895069e+00] [ 4.28579982e-03 -1.93907176e-05 9.99990816e-01 1.50344491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.58, Y:5.88, Z:0.02 [[ 9.68168344e-01 -2.50265420e-01 -4.15656465e-03 5.25849887e+01] [ 2.50263241e-01 9.68177266e-01 -1.04471349e-03 5.87562182e+00] [ 4.28574706e-03 -2.87768077e-05 9.99990816e-01 1.59806456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.378623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:52.61, Y:5.88, Z:0.02 [[ 9.67557487e-01 -2.52616775e-01 -4.15635927e-03 5.26122677e+01] [ 2.52614614e-01 9.67566413e-01 -1.04552996e-03 5.88215152e+00] [ 4.28567203e-03 -3.83467548e-05 9.99990816e-01 1.52961522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.408623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:52.64, Y:5.89, Z:0.01 [[ 9.67398991e-01 -2.53223057e-01 -4.15629530e-03 5.26397534e+01] [ 2.53220901e-01 9.67407919e-01 -1.04578417e-03 5.88943322e+00] [ 4.28564966e-03 -4.07702847e-05 9.99990816e-01 1.49102625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.438623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:52.67, Y:5.90, Z:0.02 [[ 9.67367904e-01 -2.53341797e-01 -4.15609272e-03 5.26669996e+01] [ 2.53339638e-01 9.67376831e-01 -1.04658865e-03 5.89674122e+00] [ 4.28565245e-03 -4.04667547e-05 9.99990816e-01 2.15994095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468623853000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:52.69, Y:5.90, Z:0.02 [[ 9.67298458e-01 -2.53606824e-01 -4.15599761e-03 5.26948917e+01] [ 2.53604666e-01 9.67307385e-01 -1.04696618e-03 5.90439381e+00] [ 4.28564495e-03 -4.12516126e-05 9.99990816e-01 1.57763992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.498623853000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:52.72, Y:5.91, Z:0.02 [[ 9.67327762e-01 -2.53495031e-01 -4.15582043e-03 5.27222860e+01] [ 2.53492870e-01 9.67336688e-01 -1.04766902e-03 5.91179337e+00] [ 4.28565646e-03 -4.00315221e-05 9.99990816e-01 1.77482599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528623853000006 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:52.75, Y:5.92, Z:0.02 [[ 9.67418997e-01 -2.53146629e-01 -4.15564170e-03 5.27482602e+01] [ 2.53144461e-01 9.67427921e-01 -1.04837749e-03 5.91811322e+00] [ 4.28567704e-03 -3.77573813e-05 9.99990816e-01 2.11567957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:52.77, Y:5.92, Z:0.02 [[ 9.67554775e-01 -2.52627173e-01 -4.15555264e-03 5.27745069e+01] [ 2.52624999e-01 9.67563698e-01 -1.04873037e-03 5.92416018e+00] [ 4.28569967e-03 -3.50924051e-05 9.99990816e-01 1.84859395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.588623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:52.80, Y:5.93, Z:0.02 [[ 9.67872994e-01 -2.51405252e-01 -4.15541429e-03 5.28022881e+01] [ 2.51403064e-01 9.67881913e-01 -1.04927828e-03 5.93283469e+00] [ 4.28574440e-03 -2.91157777e-05 9.99990816e-01 2.05955058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.618623853 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:52.83, Y:5.94, Z:0.03 [[ 9.68093106e-01 -2.50556326e-01 -4.15523986e-03 5.28294301e+01] [ 2.50554127e-01 9.68102023e-01 -1.04996859e-03 5.94092287e+00] [ 4.28577239e-03 -2.46451424e-05 9.99990816e-01 2.61285322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648623853000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:52.86, Y:5.95, Z:0.02 [[ 9.68295494e-01 -2.49773043e-01 -4.15504070e-03 5.28561214e+01] [ 2.49770833e-01 9.68304408e-01 -1.05075612e-03 5.94845837e+00] [ 4.28579478e-03 -2.03655582e-05 9.99990816e-01 1.91661111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.678623853000005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:52.88, Y:5.96, Z:0.02 [[ 9.68487413e-01 -2.49027845e-01 -4.15484121e-03 5.28816613e+01] [ 2.49025626e-01 9.68496325e-01 -1.05154433e-03 5.95582033e+00] [ 4.28581227e-03 -1.62544818e-05 9.99990816e-01 1.84920382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708623853000006 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:52.91, Y:5.96, Z:0.02 [[ 9.68785163e-01 -2.47866992e-01 -4.15470521e-03 5.29084911e+01] [ 2.47864759e-01 9.68794072e-01 -1.05208142e-03 5.96492185e+00] [ 4.28583004e-03 -1.05641365e-05 9.99990816e-01 1.71673746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73862385300001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.94, Y:5.97, Z:0.02 [[ 9.68903083e-01 -2.47405650e-01 -4.15450878e-03 5.29358287e+01] [ 2.47403409e-01 9.68911990e-01 -1.05285654e-03 5.97271623e+00] [ 4.28583602e-03 -7.72368804e-06 9.99990816e-01 1.69211254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.768623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.96, Y:5.98, Z:0.02 [[ 9.68856686e-01 -2.47587287e-01 -4.15431136e-03 5.29634141e+01] [ 2.47585045e-01 9.68865592e-01 -1.05363491e-03 5.97991312e+00] [ 4.28583595e-03 -7.72414291e-06 9.99990816e-01 1.70431948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.798623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:52.99, Y:5.99, Z:0.02 [[ 9.69010105e-01 -2.46986152e-01 -4.15411369e-03 5.29895146e+01] [ 2.46983902e-01 9.69019009e-01 -1.05441368e-03 5.98734199e+00] [ 4.28584071e-03 -4.26169915e-06 9.99990816e-01 1.70627065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:53.02, Y:6.00, Z:0.02 [[ 9.69289197e-01 -2.45888588e-01 -4.15402776e-03 5.30164283e+01] [ 2.45886326e-01 9.69298098e-01 -1.05475210e-03 5.99699818e+00] [ 4.28584271e-03 9.41190482e-07 9.99990816e-01 2.36775521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.858623853000005 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:53.04, Y:6.01, Z:0.02 [[ 9.69365136e-01 -2.45589045e-01 -4.15383302e-03 5.30443571e+01] [ 2.45586777e-01 9.69374036e-01 -1.05551847e-03 6.00538074e+00] [ 4.28584165e-03 3.05633924e-06 9.99990816e-01 1.84965823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888623853000006 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:53.07, Y:6.01, Z:0.02 [[ 9.69319749e-01 -2.45768124e-01 -4.15366295e-03 5.30710414e+01] [ 2.45765855e-01 9.69328649e-01 -1.05618730e-03 6.01338923e+00] [ 4.28584167e-03 2.95467893e-06 9.99990816e-01 2.01205916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91862385300001 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:53.10, Y:6.02, Z:0.02 [[ 9.69126997e-01 -2.46527102e-01 -4.15345967e-03 5.30976358e+01] [ 2.46524836e-01 9.69135898e-01 -1.05698610e-03 6.02245129e+00] [ 4.28584259e-03 4.22800046e-07 9.99990816e-01 2.06613198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.948623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:53.12, Y:6.03, Z:0.02 [[ 9.68876226e-01 -2.47510824e-01 -4.15339675e-03 5.31246701e+01] [ 2.47508566e-01 9.68885128e-01 -1.05723328e-03 6.03065470e+00] [ 4.28584103e-03 -3.67308609e-06 9.99990816e-01 2.11718740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.978623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:53.15, Y:6.04, Z:0.02 [[ 9.68583113e-01 -2.48655393e-01 -4.15319290e-03 5.31507538e+01] [ 2.48653142e-01 9.68592017e-01 -1.05803350e-03 6.03805956e+00] [ 4.28583522e-03 -7.91108324e-06 9.99990816e-01 2.03745020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:53.18, Y:6.05, Z:0.02 [[ 9.67794882e-01 -2.51705818e-01 -4.15310428e-03 5.31773301e+01] [ 2.51703594e-01 9.67803792e-01 -1.05838121e-03 6.04592527e+00] [ 4.28579079e-03 -2.10553516e-05 9.99990816e-01 1.98823284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.038623853000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:53.20, Y:6.05, Z:0.02 [[ 9.67292231e-01 -2.53630623e-01 -4.15290062e-03 5.32046562e+01] [ 2.53628413e-01 9.67301146e-01 -1.05917977e-03 6.05352364e+00] [ 4.28574595e-03 -2.87572272e-05 9.99990816e-01 2.05401823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068623853000005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:53.23, Y:6.06, Z:0.02 [[ 9.66731773e-01 -2.55758546e-01 -4.15269382e-03 5.32311278e+01] [ 2.55756352e-01 9.66740692e-01 -1.05998992e-03 6.06089072e+00] [ 4.28567958e-03 -3.73518878e-05 9.99990816e-01 1.98082145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:53.26, Y:6.07, Z:0.02 [[ 9.66161417e-01 -2.57904773e-01 -4.15260412e-03 5.32583353e+01] [ 2.57902597e-01 9.66170340e-01 -1.06034122e-03 6.06780969e+00] [ 4.28559000e-03 -4.65066058e-05 9.99990816e-01 2.08970573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.128623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:53.29, Y:6.07, Z:0.02 [[ 9.65062050e-01 -2.61988543e-01 -4.15239917e-03 5.32850779e+01] [ 2.61986402e-01 9.65070981e-01 -1.06114323e-03 6.07404252e+00] [ 4.28536731e-03 -6.38030530e-05 9.99990816e-01 2.21778440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.158623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:53.31, Y:6.08, Z:0.02 [[ 9.64532405e-01 -2.63931804e-01 -4.15230269e-03 5.33122130e+01] [ 2.63929679e-01 9.64541340e-01 -1.06152063e-03 6.08046633e+00] [ 4.28523665e-03 -7.20448746e-05 9.99990816e-01 2.27386693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.188623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:53.34, Y:6.09, Z:0.02 [[ 9.64009106e-01 -2.65836797e-01 -4.15220890e-03 5.33393965e+01] [ 2.65834688e-01 9.64018045e-01 -1.06188734e-03 6.08643828e+00] [ 4.28509304e-03 -8.01320910e-05 9.99990816e-01 2.31602538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.218623853000004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:53.37, Y:6.09, Z:0.03 [[ 9.63239920e-01 -2.68610530e-01 -4.15201285e-03 5.33684037e+01] [ 2.68608444e-01 9.63248864e-01 -1.06265338e-03 6.09132245e+00] [ 4.28486155e-03 -9.16755572e-05 9.99990816e-01 2.55578901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248623853000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:53.39, Y:6.10, Z:0.03 [[ 9.62969890e-01 -2.69576988e-01 -4.15183584e-03 5.33949823e+01] [ 2.69574907e-01 9.62978836e-01 -1.06334448e-03 6.09745470e+00] [ 4.28478325e-03 -9.52620462e-05 9.99990816e-01 2.61764152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.278623853000006 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:53.42, Y:6.10, Z:0.02 [[ 9.62796382e-01 -2.70196020e-01 -4.15174775e-03 5.34217356e+01] [ 2.70193944e-01 9.62805329e-01 -1.06368831e-03 6.10331146e+00] [ 4.28472921e-03 -9.76618417e-05 9.99990816e-01 2.48675671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30862385300001 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:53.45, Y:6.11, Z:0.02 [[ 9.62701108e-01 -2.70535284e-01 -4.15161228e-03 5.34509904e+01] [ 2.70533209e-01 9.62710055e-01 -1.06421680e-03 6.10732416e+00] [ 4.28470708e-03 -9.86262992e-05 9.99990816e-01 2.40792323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.338623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:53.48, Y:6.11, Z:0.02 [[ 9.62778842e-01 -2.70258516e-01 -4.15151787e-03 5.34772723e+01] [ 2.70256437e-01 9.62787788e-01 -1.06458499e-03 6.11218347e+00] [ 4.28474386e-03 -9.70145203e-05 9.99990816e-01 2.39965921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.368623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:53.50, Y:6.12, Z:0.02 [[ 9.62917303e-01 -2.69764775e-01 -4.15143218e-03 5.35042524e+01] [ 2.69762689e-01 9.62926247e-01 -1.06491904e-03 6.11776685e+00] [ 4.28480065e-03 -9.44725355e-05 9.99990816e-01 2.45538847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.398623853000004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:53.53, Y:6.12, Z:0.02 [[ 9.63121008e-01 -2.69036598e-01 -4.15123532e-03 5.35316736e+01] [ 2.69034503e-01 9.63129950e-01 -1.06568586e-03 6.12318926e+00] [ 4.28488757e-03 -9.04410943e-05 9.99990816e-01 2.46623412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428623853000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.56, Y:6.13, Z:0.02 [[ 9.63795229e-01 -2.66611187e-01 -4.15103863e-03 5.35593826e+01] [ 2.66609066e-01 9.63804165e-01 -1.06645146e-03 6.12643523e+00] [ 4.28511621e-03 -7.88636991e-05 9.99990816e-01 2.38683875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.458623853000006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:53.59, Y:6.13, Z:0.02 [[ 9.64203508e-01 -2.65130844e-01 -4.15097740e-03 5.35869063e+01] [ 2.65128708e-01 9.64212440e-01 -1.06668975e-03 6.13277435e+00] [ 4.28523640e-03 -7.20372765e-05 9.99990816e-01 2.35390862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:53.61, Y:6.14, Z:0.02 [[ 9.65036920e-01 -2.62081121e-01 -4.15078121e-03 5.36140161e+01] [ 2.62078953e-01 9.65045845e-01 -1.06745262e-03 6.13891861e+00] [ 4.28545334e-03 -5.77012038e-05 9.99990816e-01 2.26444647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.518623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:53.64, Y:6.14, Z:0.02 [[ 9.65499506e-01 -2.60371803e-01 -4.15068904e-03 5.36413963e+01] [ 2.60369619e-01 9.65508426e-01 -1.06781087e-03 6.14489517e+00] [ 4.28555309e-03 -4.97424519e-05 9.99990816e-01 2.28817864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.548623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:53.67, Y:6.15, Z:0.02 [[ 9.65828744e-01 -2.59147855e-01 -4.15048742e-03 5.36690509e+01] [ 2.59145656e-01 9.65837661e-01 -1.06859400e-03 6.15085938e+00] [ 4.28562090e-03 -4.35019814e-05 9.99990816e-01 2.32957328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.578623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:53.70, Y:6.16, Z:0.02 [[ 9.66217083e-01 -2.57696185e-01 -4.15028502e-03 5.36952833e+01] [ 2.57693969e-01 9.66225996e-01 -1.06937953e-03 6.15606771e+00] [ 4.28568830e-03 -3.62506465e-05 9.99990816e-01 2.19939921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608623853000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:53.72, Y:6.16, Z:0.03 [[ 9.66494934e-01 -2.56652135e-01 -4.15019703e-03 5.37224995e+01] [ 2.56649908e-01 9.66503844e-01 -1.06972088e-03 6.16251747e+00] [ 4.28572753e-03 -3.12678697e-05 9.99990816e-01 2.50897933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.638623853000006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.75, Y:6.17, Z:0.02 [[ 9.67071441e-01 -2.54471227e-01 -4.15000626e-03 5.37496543e+01] [ 2.54468976e-01 9.67080345e-01 -1.07046049e-03 6.16930636e+00] [ 4.28579088e-03 -2.08360773e-05 9.99990816e-01 2.18581216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66862385300001 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:53.78, Y:6.18, Z:0.03 [[ 9.67266733e-01 -2.53727899e-01 -4.14981571e-03 5.37767353e+01] [ 2.53725638e-01 9.67275635e-01 -1.07119868e-03 6.17598552e+00] [ 4.28580861e-03 -1.67797881e-05 9.99990816e-01 2.80408396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.698623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:53.80, Y:6.18, Z:0.02 [[ 9.67529222e-01 -2.52725118e-01 -4.14962535e-03 5.38040101e+01] [ 2.52722845e-01 9.67538121e-01 -1.07193559e-03 6.18213782e+00] [ 4.28582576e-03 -1.15761120e-05 9.99990816e-01 2.30108180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.728623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:53.83, Y:6.19, Z:0.02 [[ 9.68019299e-01 -2.50841422e-01 -4.14956655e-03 5.38315989e+01] [ 2.50839130e-01 9.68028192e-01 -1.07216316e-03 6.18791502e+00] [ 4.28584034e-03 -2.99903683e-06 9.99990816e-01 2.46930124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.758623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:53.86, Y:6.19, Z:0.03 [[ 9.68090072e-01 -2.50568142e-01 -4.14950805e-03 5.38591652e+01] [ 2.50565847e-01 9.68098965e-01 -1.07238952e-03 6.19484903e+00] [ 4.28584110e-03 -1.55535000e-06 9.99990816e-01 2.67481149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788623853000004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:53.89, Y:6.20, Z:0.03 [[ 9.68257600e-01 -2.49919993e-01 -4.14931144e-03 5.38864280e+01] [ 2.49917689e-01 9.68266491e-01 -1.07314970e-03 6.20146464e+00] [ 4.28584079e-03 2.09902469e-06 9.99990816e-01 2.59375621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.818623853000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:53.91, Y:6.21, Z:0.03 [[ 9.68398176e-01 -2.49374729e-01 -4.14925041e-03 5.39133622e+01] [ 2.49372419e-01 9.68407065e-01 -1.07338561e-03 6.20839294e+00] [ 4.28583866e-03 4.75605528e-06 9.99990816e-01 2.67610585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.94, Y:6.22, Z:0.03 [[ 9.68408259e-01 -2.49335574e-01 -4.14905212e-03 5.39392746e+01] [ 2.49333260e-01 9.68417147e-01 -1.07415153e-03 6.21526778e+00] [ 4.28583741e-03 5.72051634e-06 9.99990816e-01 2.55154052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.878623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:53.97, Y:6.22, Z:0.03 [[ 9.68394919e-01 -2.49387382e-01 -4.14896602e-03 5.39660586e+01] [ 2.49385067e-01 9.68403807e-01 -1.07448401e-03 6.22157554e+00] [ 4.28583724e-03 5.83468644e-06 9.99990816e-01 2.72168780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.908623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:53.99, Y:6.23, Z:0.02 [[ 9.68540131e-01 -2.48822832e-01 -4.14876027e-03 5.39937126e+01] [ 2.48820509e-01 9.68549017e-01 -1.07527786e-03 6.22679906e+00] [ 4.28583136e-03 9.15311908e-06 9.99990816e-01 2.35978052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.938623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:54.02, Y:6.23, Z:0.02 [[ 9.68541659e-01 -2.48816885e-01 -4.14869628e-03 5.40198701e+01] [ 2.48814561e-01 9.68550545e-01 -1.07552467e-03 6.23351154e+00] [ 4.28583074e-03 9.43441035e-06 9.99990816e-01 2.38586805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968623853000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:54.05, Y:6.24, Z:0.03 [[ 9.68481148e-01 -2.49052314e-01 -4.14861730e-03 5.40470781e+01] [ 2.49049991e-01 9.68490033e-01 -1.07582926e-03 6.24035939e+00] [ 4.28583227e-03 8.70725575e-06 9.99990816e-01 2.70732010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.998623853000005 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:54.07, Y:6.25, Z:0.03 [[ 9.68085751e-01 -2.50584856e-01 -4.14841926e-03 5.40736666e+01] [ 2.50582543e-01 9.68094639e-01 -1.07659237e-03 6.24611849e+00] [ 4.28584018e-03 2.71228080e-06 9.99990816e-01 3.19729681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028623853000006 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:54.10, Y:6.25, Z:0.03 [[ 9.67698172e-01 -2.52077445e-01 -4.14833335e-03 5.41007531e+01] [ 2.52075145e-01 9.67707064e-01 -1.07692326e-03 6.25261771e+00] [ 4.28583955e-03 -3.55505805e-06 9.99990816e-01 2.90868509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05862385300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:54.13, Y:6.26, Z:0.03 [[ 9.67364565e-01 -2.53354677e-01 -4.14812934e-03 5.41275077e+01] [ 2.53352385e-01 9.67373458e-01 -1.07770851e-03 6.25872269e+00] [ 4.28583272e-03 -8.40143290e-06 9.99990816e-01 2.69934935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.088623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:54.16, Y:6.26, Z:0.03 [[ 9.66771391e-01 -2.55608823e-01 -4.14804051e-03 5.41552487e+01] [ 2.55606551e-01 9.66780290e-01 -1.07805030e-03 6.26344887e+00] [ 4.28580298e-03 -1.80381341e-05 9.99990816e-01 2.85617554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.118623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:54.18, Y:6.27, Z:0.03 [[ 9.66319491e-01 -2.57311945e-01 -4.14784027e-03 5.41830205e+01] [ 2.57309685e-01 9.66328393e-01 -1.07882019e-03 6.27008110e+00] [ 4.28576914e-03 -2.47944936e-05 9.99990816e-01 3.33199777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148623853000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:54.21, Y:6.28, Z:0.03 [[ 9.65940582e-01 -2.58730726e-01 -4.14765666e-03 5.42105724e+01] [ 2.58728476e-01 9.65949487e-01 -1.07952566e-03 6.27609394e+00] [ 4.28573327e-03 -3.03592412e-05 9.99990816e-01 2.89580569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.178623853000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:54.24, Y:6.28, Z:0.03 [[ 9.65233318e-01 -2.61356923e-01 -4.14744420e-03 5.42384776e+01] [ 2.61354693e-01 9.65242227e-01 -1.08034128e-03 6.28122067e+00] [ 4.28564295e-03 -4.11726106e-05 9.99990816e-01 2.73593436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208623853000006 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:54.27, Y:6.29, Z:0.03 [[ 9.64994129e-01 -2.62238691e-01 -4.14734480e-03 5.42652029e+01] [ 2.62236468e-01 9.65003040e-01 -1.08072273e-03 6.28724257e+00] [ 4.28560765e-03 -4.46939613e-05 9.99990816e-01 2.69299910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23862385300001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:54.29, Y:6.29, Z:0.03 [[ 9.64863330e-01 -2.62719537e-01 -4.14725368e-03 5.42927780e+01] [ 2.62717317e-01 9.64872242e-01 -1.08107229e-03 6.29374993e+00] [ 4.28558877e-03 -4.64683483e-05 9.99990816e-01 2.75606336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.268623853 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:54.32, Y:6.30, Z:0.03 [[ 9.64824135e-01 -2.62863446e-01 -4.14704553e-03 5.43201647e+01] [ 2.62861224e-01 9.64833046e-01 -1.08187019e-03 6.30051566e+00] [ 4.28559069e-03 -4.62829927e-05 9.99990816e-01 3.41264653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.298623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:54.35, Y:6.31, Z:0.03 [[ 9.65042282e-01 -2.62061438e-01 -4.14683447e-03 5.43471550e+01] [ 2.62059205e-01 9.65051191e-01 -1.08267858e-03 6.30588844e+00] [ 4.28563585e-03 -4.18855388e-05 9.99990816e-01 2.87983486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:54.37, Y:6.31, Z:0.04 [[ 9.65036529e-01 -2.62082624e-01 -4.14676925e-03 5.43734138e+01] [ 2.62080390e-01 9.65045437e-01 -1.08292832e-03 6.31260802e+00] [ 4.28563744e-03 -4.17215177e-05 9.99990816e-01 3.50064948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.358623853000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:54.40, Y:6.32, Z:0.03 [[ 9.64987476e-01 -2.62263184e-01 -4.14662998e-03 5.44003651e+01] [ 2.62260949e-01 9.64996384e-01 -1.08346131e-03 6.31870756e+00] [ 4.28563495e-03 -4.19725180e-05 9.99990816e-01 2.90363083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388623853000006 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:54.43, Y:6.33, Z:0.03 [[ 9.64967524e-01 -2.62336585e-01 -4.14642060e-03 5.44277721e+01] [ 2.62334348e-01 9.64976432e-01 -1.08426203e-03 6.32500598e+00] [ 4.28563976e-03 -4.14708957e-05 9.99990816e-01 2.95564248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:54.46, Y:6.33, Z:0.03 [[ 9.64896770e-01 -2.62596708e-01 -4.14620998e-03 5.44550526e+01] [ 2.62594470e-01 9.64905678e-01 -1.08506683e-03 6.33123061e+00] [ 4.28563653e-03 -4.17943344e-05 9.99990816e-01 2.94282026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.448623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:54.48, Y:6.34, Z:0.03 [[ 9.64585235e-01 -2.63738760e-01 -4.14614472e-03 5.44819099e+01] [ 2.63736531e-01 9.64594145e-01 -1.08531614e-03 6.33759950e+00] [ 4.28558686e-03 -4.66099013e-05 9.99990816e-01 3.00638138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.478623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:54.51, Y:6.34, Z:0.03 [[ 9.64327502e-01 -2.64679580e-01 -4.14594041e-03 5.45090542e+01] [ 2.64677356e-01 9.64336413e-01 -1.08609604e-03 6.34446284e+00] [ 4.28554875e-03 -4.99842624e-05 9.99990816e-01 3.06149269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508623853 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:54.54, Y:6.35, Z:0.03 [[ 9.64120422e-01 -2.65432900e-01 -4.14573407e-03 5.45356095e+01] [ 2.65430679e-01 9.64129334e-01 -1.08688311e-03 6.34997427e+00] [ 4.28551836e-03 -5.25188104e-05 9.99990816e-01 3.03385824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.538623853000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:54.56, Y:6.35, Z:0.03 [[ 9.63598913e-01 -2.67319936e-01 -4.14564441e-03 5.45646930e+01] [ 2.67317732e-01 9.63607829e-01 -1.08722499e-03 6.35444746e+00] [ 4.28541232e-03 -6.05554462e-05 9.99990816e-01 2.81162247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568623853000005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:54.59, Y:6.36, Z:0.03 [[ 9.63393565e-01 -2.68059048e-01 -4.14546479e-03 5.45910270e+01] [ 2.68056848e-01 9.63402482e-01 -1.08790943e-03 6.36029573e+00] [ 4.28537503e-03 -6.31352763e-05 9.99990816e-01 2.75695259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59862385300001 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:54.62, Y:6.37, Z:0.02 [[ 9.63233126e-01 -2.68634995e-01 -4.14537542e-03 5.46172358e+01] [ 2.68632798e-01 9.63242044e-01 -1.08824987e-03 6.36647054e+00] [ 4.28534189e-03 -6.53454694e-05 9.99990816e-01 2.39286515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:54.64, Y:6.37, Z:0.03 [[ 9.63071830e-01 -2.69212679e-01 -4.14528636e-03 5.46441091e+01] [ 2.69210486e-01 9.63080749e-01 -1.08858898e-03 6.37287186e+00] [ 4.28530745e-03 -6.75651810e-05 9.99990816e-01 2.65217231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.658623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:54.67, Y:6.38, Z:0.03 [[ 9.63003176e-01 -2.69458161e-01 -4.14509163e-03 5.46719945e+01] [ 2.69455967e-01 9.63012095e-01 -1.08932999e-03 6.37902200e+00] [ 4.28530223e-03 -6.78914315e-05 9.99990816e-01 2.93851439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.688623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:54.70, Y:6.39, Z:0.03 [[ 9.62953550e-01 -2.69635459e-01 -4.14491616e-03 5.46995227e+01] [ 2.69633264e-01 9.62962468e-01 -1.08999721e-03 6.38646861e+00] [ 4.28530060e-03 -6.79905883e-05 9.99990816e-01 2.95072316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.718623853000004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:54.73, Y:6.39, Z:0.03 [[ 9.63005604e-01 -2.69449490e-01 -4.14471534e-03 5.47254867e+01] [ 2.69447291e-01 9.63014521e-01 -1.09076031e-03 6.39257566e+00] [ 4.28532587e-03 -6.63740274e-05 9.99990816e-01 2.97222611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748623853000005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:54.75, Y:6.40, Z:0.03 [[ 9.62942388e-01 -2.69675321e-01 -4.14457841e-03 5.47529512e+01] [ 2.69673122e-01 9.62951305e-01 -1.09128038e-03 6.39871435e+00] [ 4.28531857e-03 -6.68412593e-05 9.99990816e-01 3.03275060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.778623853000006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:54.78, Y:6.40, Z:0.03 [[ 9.62808927e-01 -2.70151428e-01 -4.14437731e-03 5.47797555e+01] [ 2.70149230e-01 9.62817844e-01 -1.09204354e-03 6.40263513e+00] [ 4.28529755e-03 -6.81710713e-05 9.99990816e-01 3.12976137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:54.81, Y:6.41, Z:0.03 [[ 9.62716306e-01 -2.70481311e-01 -4.14428997e-03 5.48072374e+01] [ 2.70479114e-01 9.62725223e-01 -1.09237489e-03 6.40902094e+00] [ 4.28527948e-03 -6.92967627e-05 9.99990816e-01 3.22415580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.838623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:54.83, Y:6.41, Z:0.03 [[ 9.62634550e-01 -2.70772135e-01 -4.14408409e-03 5.48332182e+01] [ 2.70769937e-01 9.62643468e-01 -1.09315540e-03 6.41497499e+00] [ 4.28527150e-03 -6.97842318e-05 9.99990816e-01 3.16093802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.868623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:54.86, Y:6.42, Z:0.03 [[ 9.62514956e-01 -2.71196953e-01 -4.14394305e-03 5.48605278e+01] [ 2.71194757e-01 9.62523874e-01 -1.09368979e-03 6.42129046e+00] [ 4.28524945e-03 -7.11228537e-05 9.99990816e-01 3.27339087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.898623853000004 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:54.89, Y:6.43, Z:0.03 [[ 9.62399585e-01 -2.71606092e-01 -4.14373374e-03 5.48878729e+01] [ 2.71603896e-01 9.62408502e-01 -1.09448222e-03 6.42660658e+00] [ 4.28523262e-03 -7.21249997e-05 9.99990816e-01 3.22968517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928623853000005 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:54.92, Y:6.43, Z:0.04 [[ 9.62364510e-01 -2.71730347e-01 -4.14352359e-03 5.49161581e+01] [ 2.71728149e-01 9.62373427e-01 -1.09527724e-03 6.43326492e+00] [ 4.28523706e-03 -7.18560481e-05 9.99990816e-01 3.90051158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.958623853000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:54.94, Y:6.44, Z:0.03 [[ 9.62380711e-01 -2.71672964e-01 -4.14334002e-03 5.49432601e+01] [ 2.71670763e-01 9.62389628e-01 -1.09597124e-03 6.43835976e+00] [ 4.28525321e-03 -7.08827580e-05 9.99990816e-01 3.11433503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98862385300001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.97, Y:6.44, Z:0.03 [[ 9.62355433e-01 -2.71762496e-01 -4.14324906e-03 5.49709771e+01] [ 2.71760294e-01 9.62364349e-01 -1.09631499e-03 6.44409926e+00] [ 4.28525249e-03 -7.09258935e-05 9.99990816e-01 3.17513884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01862385300001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:55.00, Y:6.45, Z:0.03 [[ 9.62375994e-01 -2.71689680e-01 -4.14303693e-03 5.49977044e+01] [ 2.71687473e-01 9.62384909e-01 -1.09711607e-03 6.44912202e+00] [ 4.28527133e-03 -6.97730689e-05 9.99990816e-01 3.10160316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:55.02, Y:6.46, Z:0.03 [[ 9.62427203e-01 -2.71508224e-01 -4.14289220e-03 5.50235255e+01] [ 2.71506014e-01 9.62436117e-01 -1.09766233e-03 6.45545522e+00] [ 4.28529343e-03 -6.84000639e-05 9.99990816e-01 2.97665600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:55.05, Y:6.46, Z:0.03 [[ 9.62487574e-01 -2.71294135e-01 -4.14280057e-03 5.50513806e+01] [ 2.71291922e-01 9.62496487e-01 -1.09800804e-03 6.45990861e+00] [ 4.28531414e-03 -6.70892360e-05 9.99990816e-01 2.91709502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:55.08, Y:6.46, Z:0.03 [[ 9.62399952e-01 -2.71604806e-01 -4.14259814e-03 5.50790219e+01] [ 2.71602592e-01 9.62408866e-01 -1.09877124e-03 6.46494632e+00] [ 4.28530473e-03 -6.76830049e-05 9.99990816e-01 3.01295879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.138623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:55.11, Y:6.47, Z:0.03 [[ 9.62224459e-01 -2.72225882e-01 -4.14238856e-03 5.51067137e+01] [ 2.72223670e-01 9.62233373e-01 -1.09956079e-03 6.47003144e+00] [ 4.28527342e-03 -6.96319303e-05 9.99990816e-01 2.96592828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:55.13, Y:6.47, Z:0.03 [[ 9.61898691e-01 -2.73374745e-01 -4.14217906e-03 5.51337438e+01] [ 2.73372541e-01 9.61907606e-01 -1.10034946e-03 6.47205454e+00] [ 4.28520129e-03 -7.39333131e-05 9.99990816e-01 2.87080998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.198623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:55.16, Y:6.48, Z:0.03 [[ 9.61703136e-01 -2.74061892e-01 -4.14203628e-03 5.51614534e+01] [ 2.74059692e-01 9.61712053e-01 -1.10088666e-03 6.47710536e+00] [ 4.28515729e-03 -7.64390365e-05 9.99990816e-01 2.93527098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:55.19, Y:6.48, Z:0.03 [[ 9.61548651e-01 -2.74603416e-01 -4.14183015e-03 5.51894873e+01] [ 2.74601218e-01 9.61557569e-01 -1.10166161e-03 6.48220484e+00] [ 4.28512817e-03 -7.80503681e-05 9.99990816e-01 2.98370001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.258623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:55.22, Y:6.48, Z:0.04 [[ 9.61569276e-01 -2.74531191e-01 -4.14162359e-03 5.52179954e+01] [ 2.74528988e-01 9.61578192e-01 -1.10243760e-03 6.48356699e+00] [ 4.28514843e-03 -7.69256124e-05 9.99990816e-01 3.64943898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:55.25, Y:6.49, Z:0.03 [[ 9.61690769e-01 -2.74105298e-01 -4.14141528e-03 5.52461962e+01] [ 2.74103088e-01 9.61699683e-01 -1.10321959e-03 6.48730394e+00] [ 4.28519610e-03 -7.42186227e-05 9.99990816e-01 3.16833947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.318623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:55.27, Y:6.49, Z:0.03 [[ 9.61960975e-01 -2.73155510e-01 -4.14135040e-03 5.52744376e+01] [ 2.73153290e-01 9.61969887e-01 -1.10346311e-03 6.49177620e+00] [ 4.28527140e-03 -6.97350410e-05 9.99990816e-01 3.36184220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.30, Y:6.49, Z:0.03 [[ 9.62677676e-01 -2.70618817e-01 -4.14113701e-03 5.53015533e+01] [ 2.70616570e-01 9.62686581e-01 -1.10426335e-03 6.49435875e+00] [ 4.28545147e-03 -5.76106210e-05 9.99990816e-01 3.38254868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:55.33, Y:6.50, Z:0.03 [[ 9.63054529e-01 -2.69274629e-01 -4.14104433e-03 5.53280750e+01] [ 2.69272369e-01 9.63063431e-01 -1.10461078e-03 6.49933769e+00] [ 4.28553202e-03 -5.12683954e-05 9.99990816e-01 3.34386442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.35, Y:6.50, Z:0.03 [[ 9.63471784e-01 -2.67777844e-01 -4.14095257e-03 5.53549677e+01] [ 2.67775568e-01 9.63480682e-01 -1.10495466e-03 6.50441300e+00] [ 4.28561018e-03 -4.42532917e-05 9.99990816e-01 3.31105590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:55.38, Y:6.51, Z:0.03 [[ 9.64390358e-01 -2.64450545e-01 -4.14086359e-03 5.53824357e+01] [ 2.64448237e-01 9.64399247e-01 -1.10528804e-03 6.50698680e+00] [ 4.28573975e-03 -2.91149489e-05 9.99990816e-01 3.34606347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:55.41, Y:6.51, Z:0.03 [[ 9.64770977e-01 -2.63058581e-01 -4.14072559e-03 5.54105993e+01] [ 2.63056258e-01 9.64779862e-01 -1.10580476e-03 6.51193639e+00] [ 4.28578010e-03 -2.23954420e-05 9.99990816e-01 3.41986141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.498623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:55.44, Y:6.52, Z:0.04 [[ 9.65092636e-01 -2.61876040e-01 -4.14052549e-03 5.54385335e+01] [ 2.61873703e-01 9.65101518e-01 -1.10655350e-03 6.51652371e+00] [ 4.28580728e-03 -1.63681056e-05 9.99990816e-01 3.51646798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.47, Y:6.52, Z:0.04 [[ 9.65848889e-01 -2.59072929e-01 -4.14032256e-03 5.54657797e+01] [ 2.59070562e-01 9.65857763e-01 -1.10731228e-03 6.51799124e+00] [ 4.28583732e-03 -3.13936201e-06 9.99990816e-01 3.59267416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.558623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.49, Y:6.52, Z:0.04 [[ 9.66237819e-01 -2.57618588e-01 -4.14018410e-03 5.54926794e+01] [ 2.57616206e-01 9.66246689e-01 -1.10782974e-03 6.52315736e+00] [ 4.28583671e-03 3.84847707e-06 9.99990816e-01 3.58109540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.52, Y:6.53, Z:0.04 [[ 9.66659630e-01 -2.56031287e-01 -4.14004665e-03 5.55205271e+01] [ 2.56028888e-01 9.66668495e-01 -1.10834314e-03 6.52879273e+00] [ 4.28582319e-03 1.14190312e-05 9.99990816e-01 3.71740081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.618623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:55.55, Y:6.53, Z:0.04 [[ 9.67718557e-01 -2.51999317e-01 -4.13984484e-03 5.55485717e+01] [ 2.51996878e-01 9.67727412e-01 -1.10909644e-03 6.53224253e+00] [ 4.28573288e-03 3.00652275e-05 9.99990816e-01 3.90292049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.648623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:55.58, Y:6.54, Z:0.04 [[ 9.68231574e-01 -2.50020966e-01 -4.13962574e-03 5.55751922e+01] [ 2.50018505e-01 9.68240422e-01 -1.10991359e-03 6.53816021e+00] [ 4.28565465e-03 3.96703378e-05 9.99990816e-01 3.66701638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.678623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.60, Y:6.54, Z:0.04 [[ 9.68677365e-01 -2.48288193e-01 -4.13953068e-03 5.56027871e+01] [ 2.48285715e-01 9.68686209e-01 -1.11026804e-03 6.54469947e+00] [ 4.28557272e-03 4.77051872e-05 9.99990816e-01 3.64303009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:55.63, Y:6.55, Z:0.04 [[ 9.69209223e-01 -2.46203873e-01 -4.13933304e-03 5.56287583e+01] [ 2.46201373e-01 9.69218061e-01 -1.11100437e-03 6.55045558e+00] [ 4.28544993e-03 5.76862063e-05 9.99990816e-01 3.63894979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.738623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.66, Y:6.56, Z:0.04 [[ 9.70193621e-01 -2.42295697e-01 -4.13924695e-03 5.56568028e+01] [ 2.42293161e-01 9.70202448e-01 -1.11132505e-03 6.55537515e+00] [ 4.28517680e-03 7.52892501e-05 9.99990816e-01 3.74573100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.68, Y:6.56, Z:0.04 [[ 9.70660853e-01 -2.40417088e-01 -4.13903749e-03 5.56844359e+01] [ 2.40414531e-01 9.70669674e-01 -1.11210461e-03 6.56191199e+00] [ 4.28500712e-03 8.43916577e-05 9.99990816e-01 3.69906408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.71, Y:6.57, Z:0.04 [[ 9.71678872e-01 -2.36268998e-01 -4.13882582e-03 5.57114355e+01] [ 2.36266399e-01 9.71687681e-01 -1.11289179e-03 6.56841635e+00] [ 4.28458790e-03 1.03507967e-04 9.99990816e-01 3.57216098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.74, Y:6.58, Z:0.04 [[ 9.72056854e-01 -2.34709062e-01 -4.13876014e-03 5.57385245e+01] [ 2.34706449e-01 9.72065658e-01 -1.11313602e-03 6.57659811e+00] [ 4.28440971e-03 1.10637801e-04 9.99990816e-01 3.76408806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.858623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:55.77, Y:6.58, Z:0.04 [[ 9.72486109e-01 -2.32924107e-01 -4.13854796e-03 5.57650258e+01] [ 2.32921474e-01 9.72494908e-01 -1.11392431e-03 6.58450607e+00] [ 4.28417665e-03 1.19319230e-04 9.99990816e-01 3.74680010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.79, Y:6.59, Z:0.04 [[ 9.72890416e-01 -2.31229564e-01 -4.13848219e-03 5.57914938e+01] [ 2.31226914e-01 9.72899210e-01 -1.11416861e-03 6.59213635e+00] [ 4.28395478e-03 1.27035493e-04 9.99990816e-01 3.76893869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.82, Y:6.60, Z:0.04 [[ 9.73557151e-01 -2.28406102e-01 -4.13841746e-03 5.58189623e+01] [ 2.28403426e-01 9.73565937e-01 -1.11440899e-03 6.60071123e+00] [ 4.28356009e-03 1.39712121e-04 9.99990816e-01 3.97073897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.85, Y:6.61, Z:0.04 [[ 9.73803942e-01 -2.27351618e-01 -4.13823613e-03 5.58453051e+01] [ 2.27348929e-01 9.73812724e-01 -1.11508194e-03 6.60908016e+00] [ 4.28338268e-03 1.45047637e-04 9.99990816e-01 4.13878038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.978623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:55.87, Y:6.62, Z:0.04 [[ 9.74032669e-01 -2.26369691e-01 -4.13802916e-03 5.58704038e+01] [ 2.26366991e-01 9.74041447e-01 -1.11584945e-03 6.61910169e+00] [ 4.28320641e-03 1.50160611e-04 9.99990816e-01 4.07813061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.008623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:55.90, Y:6.63, Z:0.04 [[ 9.74048230e-01 -2.26302724e-01 -4.13793935e-03 5.58971651e+01] [ 2.26300021e-01 9.74057008e-01 -1.11618242e-03 6.62799515e+00] [ 4.28318394e-03 1.50799747e-04 9.99990816e-01 4.09465073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.038623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.92, Y:6.64, Z:0.04 [[ 9.73973236e-01 -2.26625272e-01 -4.13773508e-03 5.59236628e+01] [ 2.26622570e-01 9.73982014e-01 -1.11693915e-03 6.63719535e+00] [ 4.28320618e-03 1.50164685e-04 9.99990816e-01 4.04029202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:55.95, Y:6.65, Z:0.04 [[ 9.73822882e-01 -2.27270489e-01 -4.13753001e-03 5.59500412e+01] [ 2.27267789e-01 9.73831660e-01 -1.11769826e-03 6.64624545e+00] [ 4.28327755e-03 1.48112838e-04 9.99990816e-01 4.00362495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.098623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:55.98, Y:6.66, Z:0.04 [[ 9.73384392e-01 -2.29141238e-01 -4.13732402e-03 5.59752325e+01] [ 2.29138552e-01 9.73393175e-01 -1.11846024e-03 6.65650978e+00] [ 4.28352833e-03 1.40671302e-04 9.99990816e-01 3.93079177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.00, Y:6.67, Z:0.04 [[ 9.73026127e-01 -2.30657840e-01 -4.13723458e-03 5.60022997e+01] [ 2.30655166e-01 9.73034914e-01 -1.11879100e-03 6.66546406e+00] [ 4.28373161e-03 1.34338348e-04 9.99990816e-01 4.01641732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.03, Y:6.67, Z:0.04 [[ 9.72652294e-01 -2.32229196e-01 -4.13702748e-03 5.60275322e+01] [ 2.32226532e-01 9.72661084e-01 -1.11955629e-03 6.67454268e+00] [ 4.28391929e-03 1.28211451e-04 9.99990816e-01 3.97536461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.05, Y:6.69, Z:0.04 [[ 9.71869670e-01 -2.35482974e-01 -4.13693708e-03 5.60520276e+01] [ 2.35480339e-01 9.71878468e-01 -1.11989024e-03 6.68769207e+00] [ 4.28431515e-03 1.14220012e-04 9.99990816e-01 3.88196650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:56.08, Y:6.70, Z:0.04 [[ 9.71435716e-01 -2.37266804e-01 -4.13679825e-03 5.60782874e+01] [ 2.37264182e-01 9.71444518e-01 -1.12040283e-03 6.69804709e+00] [ 4.28450438e-03 1.06885275e-04 9.99990816e-01 4.06656139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.10, Y:6.71, Z:0.04 [[ 9.71042561e-01 -2.38870746e-01 -4.13658301e-03 5.61039632e+01] [ 2.38868136e-01 9.71051367e-01 -1.12119693e-03 6.70783406e+00] [ 4.28465573e-03 1.00632065e-04 9.99990816e-01 3.96195454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.278623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.13, Y:6.72, Z:0.04 [[ 9.70178778e-01 -2.42355168e-01 -4.13648939e-03 5.61301305e+01] [ 2.42352588e-01 9.70187593e-01 -1.12154221e-03 6.72035386e+00] [ 4.28498224e-03 8.56075440e-05 9.99990816e-01 4.24115412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.16, Y:6.73, Z:0.04 [[ 9.69754960e-01 -2.44045504e-01 -4.13630430e-03 5.61558854e+01] [ 2.44042937e-01 9.69763778e-01 -1.12222443e-03 6.73004488e+00] [ 4.28511191e-03 7.88468605e-05 9.99990816e-01 4.26016073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.18, Y:6.74, Z:0.04 [[ 9.69353320e-01 -2.45635976e-01 -4.13621213e-03 5.61825433e+01] [ 2.45633422e-01 9.69362142e-01 -1.12256402e-03 6.73992093e+00] [ 4.28522956e-03 7.21692241e-05 9.99990816e-01 4.32276692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.368623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:56.21, Y:6.75, Z:0.05 [[ 9.68941642e-01 -2.47254906e-01 -4.13600170e-03 5.62084116e+01] [ 2.47252363e-01 9.68950467e-01 -1.12333883e-03 6.75006966e+00] [ 4.28533181e-03 6.58135810e-05 9.99990816e-01 5.02450216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.23, Y:6.76, Z:0.04 [[ 9.68026607e-01 -2.50813442e-01 -4.13593630e-03 5.62349679e+01] [ 2.50810930e-01 9.68035441e-01 -1.12357957e-03 6.76215319e+00] [ 4.28554178e-03 5.03168887e-05 9.99990816e-01 4.33572991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.26, Y:6.77, Z:0.04 [[ 9.67515032e-01 -2.52779664e-01 -4.13575282e-03 5.62607371e+01] [ 2.52777167e-01 9.67523870e-01 -1.12425451e-03 6.77157192e+00] [ 4.28562826e-03 4.23092543e-05 9.99990816e-01 4.36280084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:6.78, Z:0.04 [[ 9.67055810e-01 -2.54530858e-01 -4.13567434e-03 5.62867052e+01] [ 2.54528376e-01 9.67064652e-01 -1.12454313e-03 6.78127662e+00] [ 4.28569540e-03 3.48494905e-05 9.99990816e-01 4.41038416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.31, Y:6.79, Z:0.04 [[ 9.66166261e-01 -2.57886902e-01 -4.13546221e-03 5.63121135e+01] [ 2.57884448e-01 9.66175111e-01 -1.12532272e-03 6.79358641e+00] [ 4.28578665e-03 2.07774550e-05 9.99990816e-01 4.29628740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.34, Y:6.80, Z:0.04 [[ 9.65781335e-01 -2.59324725e-01 -4.13524907e-03 5.63375045e+01] [ 2.59322280e-01 9.65790188e-01 -1.12610540e-03 6.80262885e+00] [ 4.28580995e-03 1.52093595e-05 9.99990816e-01 4.07574981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.36, Y:6.81, Z:0.04 [[ 9.65405711e-01 -2.60719608e-01 -4.13510331e-03 5.63643104e+01] [ 2.60717174e-01 9.65414567e-01 -1.12664039e-03 6.81181977e+00] [ 4.28582621e-03 9.57261855e-06 9.99990816e-01 4.18921858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:6.82, Z:0.04 [[ 9.65356473e-01 -2.60901865e-01 -4.13488981e-03 5.63917819e+01] [ 2.60899429e-01 9.65365328e-01 -1.12742339e-03 6.81949826e+00] [ 4.28582612e-03 9.57508169e-06 9.99990816e-01 4.20142556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.42, Y:6.83, Z:0.04 [[ 9.64829229e-01 -2.62844942e-01 -4.13467682e-03 5.64175009e+01] [ 2.62842521e-01 9.64838088e-01 -1.12820398e-03 6.83131822e+00] [ 4.28583638e-03 1.75530166e-06 9.99990816e-01 4.03466494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.44, Y:6.84, Z:0.04 [[ 9.64668235e-01 -2.63435195e-01 -4.13461070e-03 5.64443008e+01] [ 2.63432778e-01 9.64677095e-01 -1.12844623e-03 6.84097116e+00] [ 4.28583669e-03 -6.15748862e-07 9.99990816e-01 3.92200296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:6.85, Z:0.04 [[ 9.64604159e-01 -2.63669723e-01 -4.13439931e-03 5.64704663e+01] [ 2.63667305e-01 9.64613019e-01 -1.12922018e-03 6.85190512e+00] [ 4.28583658e-03 -8.55445913e-07 9.99990816e-01 3.74596871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:6.86, Z:0.04 [[ 9.64542112e-01 -2.63896611e-01 -4.13433381e-03 5.64972294e+01] [ 2.63894194e-01 9.64550972e-01 -1.12945997e-03 6.86187250e+00] [ 4.28583635e-03 -1.61498808e-06 9.99990816e-01 3.63865727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:6.87, Z:0.04 [[ 9.64544245e-01 -2.63888819e-01 -4.13415127e-03 5.65228757e+01] [ 2.63886399e-01 9.64553104e-01 -1.13012771e-03 6.87180894e+00] [ 4.28583651e-03 -8.88118031e-07 9.99990816e-01 3.52801164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:6.88, Z:0.04 [[ 9.64536307e-01 -2.63917831e-01 -4.13408630e-03 5.65488153e+01] [ 2.63915410e-01 9.64545167e-01 -1.13036531e-03 6.88172689e+00] [ 4.28583652e-03 -7.70698112e-07 9.99990816e-01 3.69317061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.57, Y:6.89, Z:0.04 [[ 9.64592695e-01 -2.63711669e-01 -4.13386364e-03 5.65737104e+01] [ 2.63709243e-01 9.64601553e-01 -1.13117902e-03 6.89303835e+00] [ 4.28583639e-03 9.88972813e-07 9.99990816e-01 3.67628408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.818623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.60, Y:6.90, Z:0.04 [[ 9.64629698e-01 -2.63576286e-01 -4.13376683e-03 5.65988821e+01] [ 2.63573857e-01 9.64638555e-01 -1.13153268e-03 6.90277332e+00] [ 4.28583605e-03 1.95715469e-06 9.99990816e-01 3.53761393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.62, Y:6.92, Z:0.04 [[ 9.64691181e-01 -2.63351168e-01 -4.13367310e-03 5.66230303e+01] [ 2.63348735e-01 9.64700038e-01 -1.13187501e-03 6.91506276e+00] [ 4.28583520e-03 3.31226119e-06 9.99990816e-01 3.50708222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.65, Y:6.92, Z:0.04 [[ 9.64715966e-01 -2.63260364e-01 -4.13358279e-03 5.66497234e+01] [ 2.63257929e-01 9.64724821e-01 -1.13220473e-03 6.92467110e+00] [ 4.28583454e-03 4.05753615e-06 9.99990816e-01 3.80445715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.67, Y:6.93, Z:0.04 [[ 9.64756344e-01 -2.63112358e-01 -4.13336351e-03 5.66748828e+01] [ 2.63109918e-01 9.64765198e-01 -1.13300468e-03 6.93396964e+00] [ 4.28583280e-03 5.54451147e-06 9.99990816e-01 3.71296164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.70, Y:6.95, Z:0.04 [[ 9.64696373e-01 -2.63332156e-01 -4.13326827e-03 5.67000360e+01] [ 2.63329717e-01 9.64705227e-01 -1.13335200e-03 6.94593984e+00] [ 4.28583354e-03 4.92819755e-06 9.99990816e-01 3.76261535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.73, Y:6.96, Z:0.04 [[ 9.64520866e-01 -2.63974270e-01 -4.13320212e-03 5.67273729e+01] [ 2.63971836e-01 9.64529722e-01 -1.13359322e-03 6.95576082e+00] [ 4.28583573e-03 2.32536452e-06 9.99990816e-01 3.89497609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.998623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.75, Y:6.97, Z:0.04 [[ 9.64367871e-01 -2.64532657e-01 -4.13301273e-03 5.67529683e+01] [ 2.64530225e-01 9.64376728e-01 -1.13428328e-03 6.96526421e+00] [ 4.28583627e-03 5.59563763e-07 9.99990816e-01 4.47211414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.78, Y:6.97, Z:0.04 [[ 9.64123286e-01 -2.65422698e-01 -4.13291854e-03 5.67798642e+01] [ 2.65420273e-01 9.64132144e-01 -1.13462639e-03 6.97455359e+00] [ 4.28583521e-03 -3.04064232e-06 9.99990816e-01 4.02611266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:6.99, Z:0.04 [[ 9.63641955e-01 -2.67164937e-01 -4.13270460e-03 5.68047900e+01] [ 2.67162525e-01 9.63650817e-01 -1.13540507e-03 6.98520836e+00] [ 4.28582459e-03 -9.97983288e-06 9.99990816e-01 4.01340162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.83, Y:6.99, Z:0.04 [[ 9.63333303e-01 -2.68275734e-01 -4.13261136e-03 5.68317203e+01] [ 2.68273330e-01 9.63342167e-01 -1.13574435e-03 6.99422396e+00] [ 4.28581143e-03 -1.45690582e-05 9.99990816e-01 3.97768878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.118623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.86, Y:7.00, Z:0.04 [[ 9.62741984e-01 -2.70390081e-01 -4.13239788e-03 5.68581670e+01] [ 2.70387694e-01 9.62750852e-01 -1.13652057e-03 7.00401645e+00] [ 4.28577347e-03 -2.31734700e-05 9.99990816e-01 4.00797739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:7.01, Z:0.04 [[ 9.62394339e-01 -2.71624853e-01 -4.13217502e-03 5.68841101e+01] [ 2.71622474e-01 9.62403210e-01 -1.13733028e-03 7.01213420e+00] [ 4.28574567e-03 -2.78313759e-05 9.99990816e-01 3.90650835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.91, Y:7.02, Z:0.04 [[ 9.62011824e-01 -2.72976512e-01 -4.13207799e-03 5.69102955e+01] [ 2.72974143e-01 9.62020698e-01 -1.13768268e-03 7.01988037e+00] [ 4.28570520e-03 -3.34862610e-05 9.99990816e-01 3.79261534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.94, Y:7.03, Z:0.04 [[ 9.61301250e-01 -2.75468389e-01 -4.13192891e-03 5.69357514e+01] [ 2.75466041e-01 9.61310129e-01 -1.13822388e-03 7.02803022e+00] [ 4.28560981e-03 -4.40300552e-05 9.99990816e-01 3.81667498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.96, Y:7.04, Z:0.04 [[ 9.60971632e-01 -2.76616071e-01 -4.13183699e-03 5.69620765e+01] [ 2.76613732e-01 9.60980513e-01 -1.13855744e-03 7.03608571e+00] [ 4.28555812e-03 -4.88014508e-05 9.99990816e-01 4.03164580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.99, Y:7.04, Z:0.04 [[ 9.60621833e-01 -2.77828408e-01 -4.13161710e-03 5.69888755e+01] [ 2.77826077e-01 9.60630716e-01 -1.13935483e-03 7.04359876e+00] [ 4.28550343e-03 -5.33818399e-05 9.99990816e-01 3.90536524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.02, Y:7.05, Z:0.04 [[ 9.59781522e-01 -2.80717581e-01 -4.13154859e-03 5.70163128e+01] [ 2.80715276e-01 9.59790412e-01 -1.13960320e-03 7.05065912e+00] [ 4.28532738e-03 -6.60187104e-05 9.99990816e-01 4.05583476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.04, Y:7.06, Z:0.04 [[ 9.59326685e-01 -2.82268034e-01 -4.13148072e-03 5.70437878e+01] [ 2.82265742e-01 9.59335578e-01 -1.13984921e-03 7.05807610e+00] [ 4.28521944e-03 -7.26877024e-05 9.99990816e-01 4.07885296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.07, Y:7.06, Z:0.04 [[ 9.58985522e-01 -2.83424949e-01 -4.13126311e-03 5.70695847e+01] [ 2.83422664e-01 9.58994417e-01 -1.14063736e-03 7.06490482e+00] [ 4.28514335e-03 -7.70388806e-05 9.99990816e-01 3.99411816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.10, Y:7.07, Z:0.05 [[ 9.58386191e-01 -2.85444989e-01 -4.13116873e-03 5.70971748e+01] [ 2.85442722e-01 9.58395091e-01 -1.14097909e-03 7.07112703e+00] [ 4.28497860e-03 -8.57134444e-05 9.99990816e-01 4.67702756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.13, Y:7.08, Z:0.04 [[ 9.58156789e-01 -2.86214085e-01 -4.13095427e-03 5.71254944e+01] [ 2.86211822e-01 9.58165690e-01 -1.14175503e-03 7.07761858e+00] [ 4.28492502e-03 -8.83476090e-05 9.99990816e-01 4.28984135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:57.15, Y:7.08, Z:0.05 [[ 9.58097090e-01 -2.86413866e-01 -4.13076669e-03 5.71532875e+01] [ 2.86411601e-01 9.58105991e-01 -1.14243329e-03 7.08496183e+00] [ 4.28492104e-03 -8.85374894e-05 9.99990816e-01 5.00501765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:7.09, Z:0.04 [[ 9.58083852e-01 -2.86458148e-01 -4.13057279e-03 5.71800565e+01] [ 2.86455881e-01 9.58092752e-01 -1.14313390e-03 7.09141323e+00] [ 4.28493187e-03 -8.80087383e-05 9.99990816e-01 4.22843267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.21, Y:7.10, Z:0.04 [[ 9.58217727e-01 -2.86010012e-01 -4.13042174e-03 5.72072734e+01] [ 2.86007738e-01 9.58226625e-01 -1.14367942e-03 7.09794476e+00] [ 4.28498385e-03 -8.54386862e-05 9.99990816e-01 4.07091850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.538623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.23, Y:7.10, Z:0.04 [[ 9.58348359e-01 -2.85571991e-01 -4.13035338e-03 5.72348997e+01] [ 2.85569712e-01 9.58357256e-01 -1.14392627e-03 7.10423251e+00] [ 4.28502743e-03 -8.32239649e-05 9.99990816e-01 4.20573675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:57.26, Y:7.11, Z:0.05 [[ 9.58851972e-01 -2.83876447e-01 -4.13013486e-03 5.72616361e+01] [ 2.83874149e-01 9.58860864e-01 -1.14471466e-03 7.10916308e+00] [ 4.28518222e-03 -7.48266141e-05 9.99990816e-01 4.77929293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:7.12, Z:0.04 [[ 9.59144829e-01 -2.82885383e-01 -4.12998572e-03 5.72889806e+01] [ 2.82883073e-01 9.59153718e-01 -1.14525250e-03 7.11611472e+00] [ 4.28526635e-03 -6.98400407e-05 9.99990816e-01 4.35609994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.32, Y:7.12, Z:0.05 [[ 9.59583155e-01 -2.81394944e-01 -4.12976608e-03 5.73156696e+01] [ 2.81392617e-01 9.59592039e-01 -1.14604397e-03 7.12292495e+00] [ 4.28538163e-03 -6.23611982e-05 9.99990816e-01 4.78088949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:7.13, Z:0.04 [[ 9.60505179e-01 -2.78231466e-01 -4.12953228e-03 5.73425990e+01] [ 2.78229106e-01 9.60514055e-01 -1.14688581e-03 7.12750872e+00] [ 4.28557351e-03 -4.73663103e-05 9.99990816e-01 4.25421064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:57.37, Y:7.13, Z:0.05 [[ 9.61126906e-01 -2.76076110e-01 -4.12943068e-03 5.73699365e+01] [ 2.76073729e-01 9.61135776e-01 -1.14725149e-03 7.13356235e+00] [ 4.28567229e-03 -3.73730474e-05 9.99990816e-01 4.80938297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.40, Y:7.14, Z:0.04 [[ 9.61673083e-01 -2.74167522e-01 -4.12936229e-03 5.73967455e+01] [ 2.74165122e-01 9.61681948e-01 -1.14749762e-03 7.14001329e+00] [ 4.28573975e-03 -2.86095365e-05 9.99990816e-01 4.16012421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:7.15, Z:0.04 [[ 9.63134844e-01 -2.68987402e-01 -4.12914382e-03 5.74236148e+01] [ 2.68984951e-01 9.63143695e-01 -1.14828322e-03 7.14725213e+00] [ 4.28583255e-03 -4.72596629e-06 9.99990816e-01 4.05776759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:7.15, Z:0.04 [[ 9.63913137e-01 -2.66184927e-01 -4.12892500e-03 5.74509440e+01] [ 2.66182447e-01 9.63921980e-01 -1.14906949e-03 7.15465452e+00] [ 4.28582654e-03 8.55582100e-06 9.99990816e-01 4.02627553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.48, Y:7.16, Z:0.04 [[ 9.64667474e-01 -2.63438074e-01 -4.12870410e-03 5.74778462e+01] [ 2.63435566e-01 9.64676309e-01 -1.14986267e-03 7.16175882e+00] [ 4.28578063e-03 2.15876213e-05 9.99990816e-01 3.93689505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.50, Y:7.17, Z:0.04 [[ 9.66170620e-01 -2.57870681e-01 -4.12863573e-03 5.75039881e+01] [ 2.57868121e-01 9.66179440e-01 -1.15010809e-03 7.16908097e+00] [ 4.28558211e-03 4.65571060e-05 9.99990816e-01 3.98468047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:7.18, Z:0.04 [[ 9.66877671e-01 -2.55206826e-01 -4.12854119e-03 5.75305198e+01] [ 2.55204239e-01 9.66886484e-01 -1.15044736e-03 7.17746827e+00] [ 4.28543269e-03 5.87206454e-05 9.99990816e-01 4.15040070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.898623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.56, Y:7.19, Z:0.04 [[ 9.67613316e-01 -2.52403303e-01 -4.12831978e-03 5.75571950e+01] [ 2.52400688e-01 9.67622120e-01 -1.15124132e-03 7.18536987e+00] [ 4.28523065e-03 7.19656815e-05 9.99990816e-01 3.87541571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.58, Y:7.19, Z:0.04 [[ 9.68808529e-01 -2.47776093e-01 -4.12825128e-03 5.75834744e+01] [ 2.47773435e-01 9.68817320e-01 -1.15148692e-03 7.19400188e+00] [ 4.28483227e-03 9.26993490e-05 9.99990816e-01 4.33720592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.61, Y:7.20, Z:0.04 [[ 9.69241113e-01 -2.46078493e-01 -4.12803140e-03 5.76106383e+01] [ 2.46075816e-01 9.69249898e-01 -1.15227465e-03 7.20249408e+00] [ 4.28464402e-03 1.01023267e-04 9.99990816e-01 4.37951610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.64, Y:7.21, Z:0.04 [[ 9.69683959e-01 -2.44327608e-01 -4.12781065e-03 5.76367027e+01] [ 2.44324912e-01 9.69692739e-01 -1.15306489e-03 7.21125278e+00] [ 4.28443360e-03 1.09581550e-04 9.99990816e-01 4.18860944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.66, Y:7.22, Z:0.04 [[ 9.70230786e-01 -2.42147030e-01 -4.12771533e-03 5.76616653e+01] [ 2.42144313e-01 9.70239559e-01 -1.15340602e-03 7.22058322e+00] [ 4.28416654e-03 1.19567233e-04 9.99990816e-01 3.90526591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.69, Y:7.23, Z:0.04 [[ 9.70279310e-01 -2.41952526e-01 -4.12757509e-03 5.76883260e+01] [ 2.41949804e-01 9.70288081e-01 -1.15390766e-03 7.22915819e+00] [ 4.28412779e-03 1.20946739e-04 9.99990816e-01 4.38864263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.71, Y:7.24, Z:0.04 [[ 9.70348750e-01 -2.41673887e-01 -4.12735285e-03 5.77140931e+01] [ 2.41671160e-01 9.70357520e-01 -1.15470203e-03 7.23744960e+00] [ 4.28406920e-03 1.23001522e-04 9.99990816e-01 4.22216910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:57.74, Y:7.25, Z:0.04 [[ 9.70477282e-01 -2.41157231e-01 -4.12725612e-03 5.77408107e+01] [ 2.41154497e-01 9.70486051e-01 -1.15504768e-03 7.24772302e+00] [ 4.28399259e-03 1.25641161e-04 9.99990816e-01 4.12205837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.77, Y:7.26, Z:0.04 [[ 9.70517346e-01 -2.40995952e-01 -4.12707196e-03 5.77673623e+01] [ 2.40993215e-01 9.70526112e-01 -1.15570529e-03 7.25785545e+00] [ 4.28395141e-03 1.27035695e-04 9.99990816e-01 4.25454164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:57.79, Y:7.27, Z:0.05 [[ 9.70647972e-01 -2.40469298e-01 -4.12685148e-03 5.77937887e+01] [ 2.40466552e-01 9.70656736e-01 -1.15649208e-03 7.26811214e+00] [ 4.28385703e-03 1.30176945e-04 9.99990816e-01 4.83807665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:7.28, Z:0.03 [[ 9.70749408e-01 -2.40059484e-01 -4.12678322e-03 5.78184386e+01] [ 2.40056733e-01 9.70758171e-01 -1.15673561e-03 7.27914379e+00] [ 4.28379388e-03 1.32238315e-04 9.99990816e-01 3.46034715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.84, Y:7.29, Z:0.04 [[ 9.70650055e-01 -2.40460893e-01 -4.12668867e-03 5.78448620e+01] [ 2.40458145e-01 9.70658818e-01 -1.15707280e-03 7.28814482e+00] [ 4.28383751e-03 1.30816873e-04 9.99990816e-01 3.92421861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:7.30, Z:0.04 [[ 9.70496921e-01 -2.41078200e-01 -4.12647468e-03 5.78699785e+01] [ 2.41075454e-01 9.70505685e-01 -1.15783546e-03 7.29696609e+00] [ 4.28389603e-03 1.28883998e-04 9.99990816e-01 3.91005470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.90, Y:7.31, Z:0.04 [[ 9.69827317e-01 -2.43757970e-01 -4.12638176e-03 5.78957372e+01] [ 2.43755247e-01 9.69836088e-01 -1.15816654e-03 7.30735666e+00] [ 4.28422627e-03 1.17394342e-04 9.99990816e-01 4.19203404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.318623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.92, Y:7.32, Z:0.04 [[ 9.69371683e-01 -2.45563669e-01 -4.12616265e-03 5.79217619e+01] [ 2.45560959e-01 9.69380458e-01 -1.15894661e-03 7.31630464e+00] [ 4.28441662e-03 1.10225568e-04 9.99990816e-01 4.31769956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.95, Y:7.33, Z:0.04 [[ 9.68420806e-01 -2.49287219e-01 -4.12609451e-03 5.79474456e+01] [ 2.49284541e-01 9.68429592e-01 -1.15918915e-03 7.32843097e+00] [ 4.28480306e-03 9.40113088e-05 9.99990816e-01 4.33919700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.97, Y:7.34, Z:0.05 [[ 9.67924464e-01 -2.51207499e-01 -4.12602667e-03 5.79738798e+01] [ 2.51204838e-01 9.67933254e-01 -1.15943059e-03 7.33967992e+00] [ 4.28497608e-03 8.57633763e-05 9.99990816e-01 4.58723518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:7.35, Z:0.04 [[ 9.67471290e-01 -2.52947188e-01 -4.12582656e-03 5.79986146e+01] [ 2.52944539e-01 9.67480085e-01 -1.16014224e-03 7.34970147e+00] [ 4.28510974e-03 7.87990151e-05 9.99990816e-01 4.44883586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.02, Y:7.36, Z:0.04 [[ 9.67054231e-01 -2.54537015e-01 -4.12572659e-03 5.80242602e+01] [ 2.54534380e-01 9.67063029e-01 -1.16049763e-03 7.35848153e+00] [ 4.28522726e-03 7.21248883e-05 9.99990816e-01 4.35869660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.05, Y:7.37, Z:0.04 [[ 9.66088577e-01 -2.58177926e-01 -4.12562811e-03 5.80501876e+01] [ 2.58175322e-01 9.66097384e-01 -1.16084763e-03 7.36876368e+00] [ 4.28546376e-03 5.63462637e-05 9.99990816e-01 4.41403536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.498623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.08, Y:7.38, Z:0.04 [[ 9.66038610e-01 -2.58364830e-01 -4.12540375e-03 5.80775809e+01] [ 2.58362224e-01 9.66047417e-01 -1.16164442e-03 7.37666189e+00] [ 4.28546370e-03 5.63448737e-05 9.99990816e-01 4.42624186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.10, Y:7.39, Z:0.04 [[ 9.65516717e-01 -2.60308380e-01 -4.12517885e-03 5.81034778e+01] [ 2.60305789e-01 9.65525528e-01 -1.16244251e-03 7.38701603e+00] [ 4.28555902e-03 4.85497403e-05 9.99990816e-01 4.30627762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.558623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.13, Y:7.40, Z:0.04 [[ 9.64533825e-01 -2.63927042e-01 -4.12507905e-03 5.81285699e+01] [ 2.63924483e-01 9.64542646e-01 -1.16279656e-03 7.39916586e+00] [ 4.28570812e-03 3.28472614e-05 9.99990816e-01 4.24832711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:7.41, Z:0.04 [[ 9.64049916e-01 -2.65689185e-01 -4.12500988e-03 5.81553726e+01] [ 2.65686640e-01 9.64058741e-01 -1.16304190e-03 7.40803091e+00] [ 4.28575949e-03 2.52704305e-05 9.99990816e-01 4.23830292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.618623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.18, Y:7.42, Z:0.04 [[ 9.63518958e-01 -2.67608300e-01 -4.12494160e-03 5.81818062e+01] [ 2.67605772e-01 9.63527788e-01 -1.16328402e-03 7.41667092e+00] [ 4.28580031e-03 1.69880218e-05 9.99990816e-01 4.43167547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.648623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:58.21, Y:7.43, Z:0.05 [[ 9.62772406e-01 -2.70281856e-01 -4.12471763e-03 5.82076846e+01] [ 2.70279349e-01 9.62781241e-01 -1.16407762e-03 7.42591373e+00] [ 4.28582982e-03 5.91581156e-06 9.99990816e-01 4.62519577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.23, Y:7.43, Z:0.05 [[ 9.62368378e-01 -2.71716933e-01 -4.12464817e-03 5.82347606e+01] [ 2.71714438e-01 9.62377217e-01 -1.16432369e-03 7.43477076e+00] [ 4.28583389e-03 -2.18157785e-07 9.99990816e-01 4.75366926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:7.44, Z:0.05 [[ 9.62027891e-01 -2.72920001e-01 -4.12442343e-03 5.82613719e+01] [ 2.72917514e-01 9.62036732e-01 -1.16511923e-03 7.44347251e+00] [ 4.28583118e-03 -4.75019170e-06 9.99990816e-01 4.80471912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.738623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:58.29, Y:7.45, Z:0.05 [[ 9.61488528e-01 -2.74814122e-01 -4.12419813e-03 5.82872045e+01] [ 2.74811649e-01 9.61497373e-01 -1.16591620e-03 7.45443033e+00] [ 4.28581590e-03 -1.23626380e-05 9.99990816e-01 5.46860057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.31, Y:7.46, Z:0.05 [[ 9.61266873e-01 -2.75588446e-01 -4.12396894e-03 5.83141142e+01] [ 2.75585976e-01 9.61275719e-01 -1.16672630e-03 7.46343123e+00] [ 4.28580750e-03 -1.49726636e-05 9.99990816e-01 4.71193984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.34, Y:7.47, Z:0.05 [[ 9.61098766e-01 -2.76174140e-01 -4.12389767e-03 5.83407346e+01] [ 2.76171675e-01 9.61107613e-01 -1.16697814e-03 7.47193136e+00] [ 4.28579863e-03 -1.73224772e-05 9.99990816e-01 4.79954945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:7.48, Z:0.05 [[ 9.61248938e-01 -2.75651003e-01 -4.12366927e-03 5.83672513e+01] [ 2.75648529e-01 9.61257783e-01 -1.16778468e-03 7.48018217e+00] [ 4.28581020e-03 -1.41515885e-05 9.99990816e-01 4.70835925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.858623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:58.39, Y:7.49, Z:0.05 [[ 9.61353976e-01 -2.75284450e-01 -4.12359829e-03 5.83934423e+01] [ 2.75281972e-01 9.61362820e-01 -1.16803526e-03 7.48940757e+00] [ 4.28581602e-03 -1.22569330e-05 9.99990816e-01 5.36208340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:7.50, Z:0.05 [[ 9.61770676e-01 -2.73825061e-01 -4.12337326e-03 5.84195090e+01] [ 2.73822567e-01 9.61779515e-01 -1.16882913e-03 7.49928398e+00] [ 4.28583064e-03 -4.92706277e-06 9.99990816e-01 4.79203409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.918623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:58.45, Y:7.51, Z:0.05 [[ 9.61988206e-01 -2.73059865e-01 -4.12330347e-03 5.84461563e+01] [ 2.73057363e-01 9.61997043e-01 -1.16907526e-03 7.50816230e+00] [ 4.28583328e-03 -1.26175583e-06 9.99990816e-01 5.43266809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.47, Y:7.52, Z:0.05 [[ 9.62178606e-01 -2.72388199e-01 -4.12308185e-03 5.84741764e+01] [ 2.72385686e-01 9.62187440e-01 -1.16985635e-03 7.51674673e+00] [ 4.28583263e-03 2.54227203e-06 9.99990816e-01 4.93848517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.978623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.50, Y:7.53, Z:0.05 [[ 9.62388539e-01 -2.71645545e-01 -4.12288803e-03 5.85008624e+01] [ 2.71643023e-01 9.62397370e-01 -1.17053902e-03 7.52515626e+00] [ 4.28582831e-03 6.55956805e-06 9.99990816e-01 4.99448140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:7.53, Z:0.05 [[ 9.62757842e-01 -2.70333758e-01 -4.12281923e-03 5.85267684e+01] [ 2.70331223e-01 9.62766669e-01 -1.17078130e-03 7.53498302e+00] [ 4.28581465e-03 1.26521071e-05 9.99990816e-01 5.13637275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:7.54, Z:0.05 [[ 9.62925622e-01 -2.69735520e-01 -4.12259453e-03 5.85521947e+01] [ 2.69732977e-01 9.62934447e-01 -1.17157198e-03 7.54291783e+00] [ 4.28580286e-03 1.61369852e-05 9.99990816e-01 5.14101658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.58, Y:7.55, Z:0.05 [[ 9.63068765e-01 -2.69223996e-01 -4.12244126e-03 5.85785768e+01] [ 2.69221445e-01 9.63077588e-01 -1.17211106e-03 7.55166160e+00] [ 4.28579121e-03 1.89739530e-05 9.99990816e-01 5.19458417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.098623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.61, Y:7.56, Z:0.05 [[ 9.63568386e-01 -2.67430313e-01 -4.12221979e-03 5.86056283e+01] [ 2.67427743e-01 9.63577203e-01 -1.17288942e-03 7.56293608e+00] [ 4.28574320e-03 2.77632325e-05 9.99990816e-01 5.09417455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.63, Y:7.57, Z:0.05 [[ 9.63877876e-01 -2.66312692e-01 -4.12202600e-03 5.86325958e+01] [ 2.66310108e-01 9.63886689e-01 -1.17357010e-03 7.57261912e+00] [ 4.28570260e-03 3.34410682e-05 9.99990816e-01 5.00991932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.66, Y:7.58, Z:0.05 [[ 9.64716825e-01 -2.63257401e-01 -4.12183080e-03 5.86576813e+01] [ 2.63254786e-01 9.64725629e-01 -1.17425528e-03 7.58443977e+00] [ 4.28556720e-03 4.77321364e-05 9.99990816e-01 4.82445433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.68, Y:7.59, Z:0.05 [[ 9.64948319e-01 -2.62407607e-01 -4.12173394e-03 5.86841651e+01] [ 2.62404983e-01 9.64957121e-01 -1.17459518e-03 7.59476799e+00] [ 4.28551922e-03 5.18601241e-05 9.99990816e-01 5.05605409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:7.61, Z:0.05 [[ 9.65141864e-01 -2.61694850e-01 -4.12150837e-03 5.87085462e+01] [ 2.61692217e-01 9.65150663e-01 -1.17538612e-03 7.60597987e+00] [ 4.28546903e-03 5.58476881e-05 9.99990816e-01 4.90486121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.73, Y:7.61, Z:0.05 [[ 9.64913129e-01 -2.62536985e-01 -4.12135460e-03 5.87346978e+01] [ 2.62534356e-01 9.64921929e-01 -1.17592505e-03 7.61485588e+00] [ 4.28550925e-03 5.26683413e-05 9.99990816e-01 4.91204983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:7.62, Z:0.05 [[ 9.64574005e-01 -2.63780220e-01 -4.12113329e-03 5.87613506e+01] [ 2.63777599e-01 9.64582808e-01 -1.17670016e-03 7.62379136e+00] [ 4.28556455e-03 4.79517401e-05 9.99990816e-01 5.01755484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.79, Y:7.63, Z:0.05 [[ 9.64052272e-01 -2.65680701e-01 -4.12090998e-03 5.87874115e+01] [ 2.65678094e-01 9.64061079e-01 -1.17748167e-03 7.63278786e+00] [ 4.28564308e-03 4.03183689e-05 9.99990816e-01 5.12040849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.338623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:58.81, Y:7.64, Z:0.06 [[ 9.62822059e-01 -2.70104986e-01 -4.12069406e-03 5.88124974e+01] [ 2.70102417e-01 9.62830876e-01 -1.17823684e-03 7.64429140e+00] [ 4.28577911e-03 2.14229974e-05 9.99990816e-01 5.77630301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:7.65, Z:0.05 [[ 9.62231809e-01 -2.72200232e-01 -4.12059338e-03 5.88392183e+01] [ 2.72197681e-01 9.62240632e-01 -1.17858881e-03 7.65191575e+00] [ 4.28581453e-03 1.24596814e-05 9.99990816e-01 5.02952455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.398623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.87, Y:7.66, Z:0.06 [[ 9.61492453e-01 -2.74800445e-01 -4.12052241e-03 5.88667628e+01] [ 2.74797917e-01 9.61501282e-01 -1.17883688e-03 7.66059153e+00] [ 4.28583248e-03 1.13178957e-06 9.99990816e-01 5.56973991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:7.67, Z:0.05 [[ 9.60247498e-01 -2.79119625e-01 -4.12032198e-03 5.88930871e+01] [ 2.79117133e-01 9.60256338e-01 -1.17953705e-03 7.66931343e+00] [ 4.28579723e-03 -1.74049577e-05 9.99990816e-01 4.80950750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:7.68, Z:0.05 [[ 9.59611757e-01 -2.81297529e-01 -4.12025066e-03 5.89193112e+01] [ 2.81295057e-01 9.59620602e-01 -1.17978611e-03 7.67832668e+00] [ 4.28574834e-03 -2.68695234e-05 9.99990816e-01 4.88990634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.95, Y:7.69, Z:0.05 [[ 9.58535387e-01 -2.84943745e-01 -4.12002281e-03 5.89459101e+01] [ 2.84941303e-01 9.58544240e-01 -1.18058126e-03 7.68813090e+00] [ 4.28562338e-03 -4.23357482e-05 9.99990816e-01 5.03754269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:58.97, Y:7.70, Z:0.05 [[ 9.58031827e-01 -2.86632250e-01 -4.11978743e-03 5.89714004e+01] [ 2.86629819e-01 9.58040683e-01 -1.18140210e-03 7.69579738e+00] [ 4.28555190e-03 -4.90331179e-05 9.99990816e-01 4.83908746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.00, Y:7.70, Z:0.05 [[ 9.57517335e-01 -2.88346287e-01 -4.11968525e-03 5.89980035e+01] [ 2.88343871e-01 9.57526196e-01 -1.18175831e-03 7.70364357e+00] [ 4.28546216e-03 -5.63319279e-05 9.99990816e-01 4.87001579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57862385300001 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:59.02, Y:7.71, Z:0.06 [[ 9.56988786e-01 -2.90095663e-01 -4.11945959e-03 5.90246836e+01] [ 2.90093260e-01 9.56997650e-01 -1.18254439e-03 7.71205215e+00] [ 4.28536415e-03 -6.33457370e-05 9.99990816e-01 5.55691526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.05, Y:7.72, Z:0.05 [[ 9.56668736e-01 -2.91149380e-01 -4.11922757e-03 5.90515659e+01] [ 2.91146983e-01 9.56677602e-01 -1.18335205e-03 7.71861685e+00] [ 4.28530497e-03 -6.72247682e-05 9.99990816e-01 4.88568410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:7.73, Z:0.05 [[ 9.56547377e-01 -2.91547847e-01 -4.11915540e-03 5.90787018e+01] [ 2.91545453e-01 9.56556244e-01 -1.18360320e-03 7.72648565e+00] [ 4.28528079e-03 -6.87484874e-05 9.99990816e-01 5.02855773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:7.73, Z:0.05 [[ 9.56604055e-01 -2.91361829e-01 -4.11893071e-03 5.91053639e+01] [ 2.91359430e-01 9.56612921e-01 -1.18438460e-03 7.73400394e+00] [ 4.28530680e-03 -6.71021932e-05 9.99990816e-01 4.92449495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.698623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.13, Y:7.74, Z:0.05 [[ 9.56989471e-01 -2.90093410e-01 -4.11886119e-03 5.91325658e+01] [ 2.90090998e-01 9.56998333e-01 -1.18462634e-03 7.74190454e+00] [ 4.28539559e-03 -6.11696122e-05 9.99990816e-01 5.08170857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.16, Y:7.75, Z:0.05 [[ 9.57318191e-01 -2.89006777e-01 -4.11864348e-03 5.91596729e+01] [ 2.89004352e-01 9.57327049e-01 -1.18538277e-03 7.74969222e+00] [ 4.28547246e-03 -5.55174021e-05 9.99990816e-01 4.93037440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:7.76, Z:0.05 [[ 9.57988618e-01 -2.86776648e-01 -4.11857566e-03 5.91862162e+01] [ 2.86774200e-01 9.57997470e-01 -1.18561837e-03 7.75727125e+00] [ 4.28559272e-03 -4.52923407e-05 9.99990816e-01 4.90878615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:7.76, Z:0.05 [[ 9.58336488e-01 -2.85612001e-01 -4.11836569e-03 5.92131185e+01] [ 2.85609539e-01 9.58345336e-01 -1.18634725e-03 7.76459752e+00] [ 4.28565157e-03 -3.93246691e-05 9.99990816e-01 5.15496634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:7.77, Z:0.05 [[ 9.58704170e-01 -2.84375377e-01 -4.11814097e-03 5.92399442e+01] [ 2.84372901e-01 9.58713014e-01 -1.18712683e-03 7.77172875e+00] [ 4.28570498e-03 -3.29842524e-05 9.99990816e-01 5.11020060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:7.78, Z:0.05 [[ 9.59087153e-01 -2.83081039e-01 -4.11807094e-03 5.92668708e+01] [ 2.83078550e-01 9.59095994e-01 -1.18736970e-03 7.77955640e+00] [ 4.28574719e-03 -2.69465267e-05 9.99990816e-01 5.23461241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.29, Y:7.79, Z:0.05 [[ 9.59934766e-01 -2.80193304e-01 -4.11785330e-03 5.92930875e+01] [ 2.80190785e-01 9.59943599e-01 -1.18812399e-03 7.78821507e+00] [ 4.28581131e-03 -1.32630234e-05 9.99990816e-01 5.36323356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.32, Y:7.80, Z:0.05 [[ 9.60429848e-01 -2.78491566e-01 -4.11762898e-03 5.93195175e+01] [ 2.78489028e-01 9.60438675e-01 -1.18890092e-03 7.79615907e+00] [ 4.28582900e-03 -4.85856255e-06 9.99990816e-01 5.43738666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.35, Y:7.80, Z:0.05 [[ 9.61323082e-01 -2.75392409e-01 -4.11739650e-03 5.93465838e+01] [ 2.75389839e-01 9.61331900e-01 -1.18970548e-03 7.80476627e+00] [ 4.28582046e-03 9.80217891e-06 9.99990816e-01 5.38504420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.37, Y:7.81, Z:0.05 [[ 9.61808855e-01 -2.73691020e-01 -4.11716330e-03 5.93721662e+01] [ 2.73688432e-01 9.61817667e-01 -1.19051198e-03 7.81298619e+00] [ 4.28579284e-03 1.82249954e-05 9.99990816e-01 5.36246447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:7.82, Z:0.05 [[ 9.62203368e-01 -2.72300806e-01 -4.11700467e-03 5.93991881e+01] [ 2.72298203e-01 9.62212175e-01 -1.19106030e-03 7.82190570e+00] [ 4.28575870e-03 2.49892624e-05 9.99990816e-01 5.45255927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:7.83, Z:0.05 [[ 9.62985798e-01 -2.69520695e-01 -4.11677301e-03 5.94252828e+01] [ 2.69518062e-01 9.62994597e-01 -1.19186046e-03 7.83028090e+00] [ 4.28566122e-03 3.82000122e-05 9.99990816e-01 5.47947390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.45, Y:7.84, Z:0.06 [[ 9.63289454e-01 -2.68433384e-01 -4.11670095e-03 5.94516777e+01] [ 2.68430740e-01 9.63298249e-01 -1.19210930e-03 7.83898591e+00] [ 4.28561275e-03 4.32972363e-05 9.99990816e-01 5.58194424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.48, Y:7.85, Z:0.06 [[ 9.63706582e-01 -2.66931972e-01 -4.11663097e-03 5.94775622e+01] [ 2.66929314e-01 9.63715373e-01 -1.19235092e-03 7.84995289e+00] [ 4.28553713e-03 5.02269454e-05 9.99990816e-01 5.70708669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.50, Y:7.86, Z:0.06 [[ 9.63895650e-01 -2.66248437e-01 -4.11640263e-03 5.95033388e+01] [ 2.66245769e-01 9.63904439e-01 -1.19313871e-03 7.85898112e+00] [ 4.28549008e-03 5.40864253e-05 9.99990816e-01 5.69933125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.148623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:59.53, Y:7.87, Z:0.06 [[ 9.63881039e-01 -2.66301329e-01 -4.11630334e-03 5.95297783e+01] [ 2.66298660e-01 9.63889827e-01 -1.19348115e-03 7.86834982e+00] [ 4.28548853e-03 5.42077884e-05 9.99990816e-01 6.29105633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.56, Y:7.88, Z:0.06 [[ 9.63848764e-01 -2.66418125e-01 -4.11607657e-03 5.95556445e+01] [ 2.66415453e-01 9.63857552e-01 -1.19426272e-03 7.87597330e+00] [ 4.28548472e-03 5.45022360e-05 9.99990816e-01 5.61898194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.58, Y:7.88, Z:0.06 [[ 9.63784996e-01 -2.66648722e-01 -4.11597808e-03 5.95815266e+01] [ 2.66646051e-01 9.63793783e-01 -1.19460205e-03 7.88421710e+00] [ 4.28549320e-03 5.38302289e-05 9.99990816e-01 5.63023194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.61, Y:7.89, Z:0.06 [[ 9.63501325e-01 -2.67671918e-01 -4.11582509e-03 5.96065116e+01] [ 2.67669255e-01 9.63510115e-01 -1.19512895e-03 7.89487862e+00] [ 4.28554156e-03 4.98284931e-05 9.99990816e-01 5.62848069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:59.63, Y:7.90, Z:0.06 [[ 9.63229621e-01 -2.68648020e-01 -4.11572787e-03 5.96324887e+01] [ 2.68645364e-01 9.63238412e-01 -1.19546366e-03 7.90461448e+00] [ 4.28558612e-03 4.58347914e-05 9.99990816e-01 6.13277371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:59.66, Y:7.91, Z:0.06 [[ 9.62773626e-01 -2.70277650e-01 -4.11550639e-03 5.96588847e+01] [ 2.70275006e-01 9.62782421e-01 -1.19622564e-03 7.91386059e+00] [ 4.28565026e-03 3.93759830e-05 9.99990816e-01 5.80681724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.68, Y:7.92, Z:0.06 [[ 9.62461766e-01 -2.71386093e-01 -4.11543758e-03 5.96846047e+01] [ 2.71383457e-01 9.62470565e-01 -1.19646232e-03 7.92309828e+00] [ 4.28569076e-03 3.46875552e-05 9.99990816e-01 5.82778174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35862385300001 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:59.71, Y:7.93, Z:0.07 [[ 9.62110814e-01 -2.72627669e-01 -4.11534156e-03 5.97106961e+01] [ 2.72625044e-01 9.62119615e-01 -1.19679250e-03 7.93330368e+00] [ 4.28572958e-03 2.95018366e-05 9.99990816e-01 6.51500100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:59.74, Y:7.94, Z:0.07 [[ 9.62058556e-01 -2.72812024e-01 -4.11511166e-03 5.97380042e+01] [ 2.72809397e-01 9.62067357e-01 -1.19758248e-03 7.94144426e+00] [ 4.28572949e-03 2.95033416e-05 9.99990816e-01 6.52720797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:7.95, Z:0.06 [[ 9.61366073e-01 -2.75242332e-01 -4.11488203e-03 5.97639176e+01] [ 2.75239724e-01 9.61374879e-01 -1.19837096e-03 7.95053565e+00] [ 4.28578663e-03 1.94941942e-05 9.99990816e-01 5.74888772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:59.79, Y:7.96, Z:0.06 [[ 9.60922171e-01 -2.76788094e-01 -4.11478221e-03 5.97902134e+01] [ 2.76785499e-01 9.60930981e-01 -1.19871359e-03 7.95921198e+00] [ 4.28581136e-03 1.29584219e-05 9.99990816e-01 5.83080307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.478623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.82, Y:7.97, Z:0.06 [[ 9.60235083e-01 -2.79162419e-01 -4.11454662e-03 5.98164349e+01] [ 2.79159842e-01 9.60243898e-01 -1.19952171e-03 7.96984285e+00] [ 4.28582967e-03 3.20663961e-06 9.99990816e-01 5.60831598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.84, Y:7.98, Z:0.06 [[ 9.59753397e-01 -2.80813976e-01 -4.11447345e-03 5.98433638e+01] [ 2.80811413e-01 9.59762216e-01 -1.19977264e-03 7.97902942e+00] [ 4.28582908e-03 -3.90523165e-06 9.99990816e-01 5.59869724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.538623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.87, Y:7.99, Z:0.06 [[ 9.59263555e-01 -2.82482752e-01 -4.11423725e-03 5.98692788e+01] [ 2.82480201e-01 9.59272378e-01 -1.20058208e-03 7.98736466e+00] [ 4.28581788e-03 -1.05159349e-05 9.99990816e-01 5.56634767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:8.00, Z:0.06 [[ 9.58758631e-01 -2.84191769e-01 -4.11413454e-03 5.98962702e+01] [ 2.84189232e-01 9.58767458e-01 -1.20093392e-03 7.99609364e+00] [ 4.28579385e-03 -1.77869699e-05 9.99990816e-01 5.73953139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.598623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.92, Y:8.00, Z:0.06 [[ 9.58014993e-01 -2.86688594e-01 -4.11389803e-03 5.99229331e+01] [ 2.86686076e-01 9.58023825e-01 -1.20174357e-03 8.00465373e+00] [ 4.28573850e-03 -2.81089310e-05 9.99990816e-01 5.50280185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.95, Y:8.01, Z:0.06 [[ 9.57635271e-01 -2.87954448e-01 -4.11382458e-03 5.99498535e+01] [ 2.87951942e-01 9.57644106e-01 -1.20199495e-03 8.01256338e+00] [ 4.28569966e-03 -3.35110144e-05 9.99990816e-01 5.60229988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65862385300001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:59.98, Y:8.02, Z:0.06 [[ 9.57216085e-01 -2.89344854e-01 -4.11359685e-03 5.99776563e+01] [ 2.89342357e-01 9.57224923e-01 -1.20277380e-03 8.02081234e+00] [ 4.28565384e-03 -3.89233850e-05 9.99990816e-01 5.75322943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.00, Y:8.03, Z:0.06 [[ 9.56692528e-01 -2.91071275e-01 -4.11339373e-03 6.00035234e+01] [ 2.91068791e-01 9.56701370e-01 -1.20346807e-03 8.02877300e+00] [ 4.28558440e-03 -4.59316315e-05 9.99990816e-01 5.73005687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.03, Y:8.04, Z:0.06 [[ 9.56425587e-01 -2.91947217e-01 -4.11329276e-03 6.00297815e+01] [ 2.91944739e-01 9.56434431e-01 -1.20381308e-03 8.03705552e+00] [ 4.28554469e-03 -4.94965501e-05 9.99990816e-01 5.81745600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.06, Y:8.05, Z:0.06 [[ 9.56286617e-01 -2.92402100e-01 -4.11305456e-03 6.00562332e+01] [ 2.92399623e-01 9.56295461e-01 -1.20462638e-03 8.04524086e+00] [ 4.28553069e-03 -5.06875184e-05 9.99990816e-01 5.61443112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.778623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:60.08, Y:8.05, Z:0.06 [[ 9.56104654e-01 -2.92996544e-01 -4.11298073e-03 6.00827779e+01] [ 2.92994071e-01 9.56113499e-01 -1.20487842e-03 8.05252898e+00] [ 4.28550160e-03 -5.30891043e-05 9.99990816e-01 5.69547073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.11, Y:8.06, Z:0.06 [[ 9.56075724e-01 -2.93090933e-01 -4.11274137e-03 6.01086901e+01] [ 2.93088458e-01 9.56084568e-01 -1.20569488e-03 8.05958378e+00] [ 4.28550680e-03 -5.26614219e-05 9.99990816e-01 5.57975849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:8.07, Z:0.06 [[ 9.56005975e-01 -2.93318364e-01 -4.11257852e-03 6.01363655e+01] [ 2.93315888e-01 9.56014819e-01 -1.20625008e-03 8.06726717e+00] [ 4.28550132e-03 -5.31023349e-05 9.99990816e-01 5.76360053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.16, Y:8.07, Z:0.06 [[ 9.56096235e-01 -2.93024022e-01 -4.11237982e-03 6.01640882e+01] [ 2.93021541e-01 9.56105078e-01 -1.20692714e-03 8.07469424e+00] [ 4.28552587e-03 -5.10773781e-05 9.99990816e-01 5.90299534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:8.08, Z:0.06 [[ 9.56149856e-01 -2.92849012e-01 -4.11218165e-03 6.01909571e+01] [ 2.92846526e-01 9.56158697e-01 -1.20760194e-03 8.08228096e+00] [ 4.28554329e-03 -4.95896946e-05 9.99990816e-01 6.00596146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.22, Y:8.09, Z:0.06 [[ 9.56240797e-01 -2.92551927e-01 -4.11195043e-03 6.02182568e+01] [ 2.92549435e-01 9.56249637e-01 -1.20838874e-03 8.08987100e+00] [ 4.28556756e-03 -4.74381611e-05 9.99990816e-01 6.10310749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.25, Y:8.10, Z:0.06 [[ 9.56735192e-01 -2.90931032e-01 -4.11171612e-03 6.02452717e+01] [ 2.90928522e-01 9.56744027e-01 -1.20918551e-03 8.09746809e+00] [ 4.28564942e-03 -3.93451677e-05 9.99990816e-01 6.17918670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.27, Y:8.10, Z:0.06 [[ 9.57027353e-01 -2.89968519e-01 -4.11148260e-03 6.02707717e+01] [ 2.89965997e-01 9.57036184e-01 -1.20997901e-03 8.10467390e+00] [ 4.28569344e-03 -3.42071359e-05 9.99990816e-01 6.11546120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.30, Y:8.11, Z:0.06 [[ 9.57358040e-01 -2.88874853e-01 -4.11130026e-03 6.02978614e+01] [ 2.88872317e-01 9.57366867e-01 -1.21059825e-03 8.11202884e+00] [ 4.28573404e-03 -2.86648606e-05 9.99990816e-01 6.34333743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.32, Y:8.12, Z:0.06 [[ 9.58094242e-01 -2.86423675e-01 -4.11106675e-03 6.03241650e+01] [ 2.86421114e-01 9.58103062e-01 -1.21139068e-03 8.11959515e+00] [ 4.28579662e-03 -1.68698785e-05 9.99990816e-01 6.38558158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.35, Y:8.13, Z:0.06 [[ 9.58480245e-01 -2.85129303e-01 -4.11090749e-03 6.03513298e+01] [ 2.85126728e-01 9.58489061e-01 -1.21193093e-03 8.12784010e+00] [ 4.28581688e-03 -1.05177464e-05 9.99990816e-01 6.32048272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.38, Y:8.14, Z:0.06 [[ 9.58819175e-01 -2.83987485e-01 -4.11067582e-03 6.03783296e+01] [ 2.83984896e-01 9.58827987e-01 -1.21271619e-03 8.13580211e+00] [ 4.28582724e-03 -4.59430906e-06 9.99990816e-01 6.25396747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.40, Y:8.14, Z:0.06 [[ 9.59168011e-01 -2.82807057e-01 -4.11044460e-03 6.04039900e+01] [ 2.82804454e-01 9.59176818e-01 -1.21349939e-03 8.14324967e+00] [ 4.28582937e-03 1.49775790e-06 9.99990816e-01 6.19185596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:60.43, Y:8.15, Z:0.07 [[ 9.59716673e-01 -2.80939517e-01 -4.11034395e-03 6.04300225e+01] [ 2.80936895e-01 9.59725475e-01 -1.21384022e-03 8.15138452e+00] [ 4.28581749e-03 1.01954321e-05 9.99990816e-01 6.53951911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.198623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:60.46, Y:8.16, Z:0.07 [[ 9.59904764e-01 -2.80296183e-01 -4.11018697e-03 6.04571856e+01] [ 2.80293553e-01 9.59913564e-01 -1.21437155e-03 8.15952619e+00] [ 4.28580793e-03 1.36221301e-05 9.99990816e-01 6.54232562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.48, Y:8.17, Z:0.06 [[ 9.60378253e-01 -2.78669553e-01 -4.10996034e-03 6.04838932e+01] [ 2.78666905e-01 9.60387047e-01 -1.21513805e-03 8.16760073e+00] [ 4.28577466e-03 2.16822334e-05 9.99990816e-01 6.22373162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.258623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:60.51, Y:8.18, Z:0.06 [[ 9.60705639e-01 -2.77538799e-01 -4.10973398e-03 6.05102897e+01] [ 2.77536137e-01 9.60714429e-01 -1.21590315e-03 8.17595682e+00] [ 4.28574104e-03 2.75253181e-05 9.99990816e-01 6.27229260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:8.18, Z:0.06 [[ 9.61035613e-01 -2.76394036e-01 -4.10950812e-03 6.05365907e+01] [ 2.76391360e-01 9.61044398e-01 -1.21666605e-03 8.18457375e+00] [ 4.28569900e-03 3.34268624e-05 9.99990816e-01 6.26121803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.318623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:60.56, Y:8.19, Z:0.06 [[ 9.61783038e-01 -2.73781852e-01 -4.10928318e-03 6.05623166e+01] [ 2.73779149e-01 9.61791815e-01 -1.21742529e-03 8.19410621e+00] [ 4.28558388e-03 4.58629403e-05 9.99990816e-01 6.17694938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:60.59, Y:8.20, Z:0.06 [[ 9.62078105e-01 -2.72743165e-01 -4.10918534e-03 6.05874715e+01] [ 2.72740452e-01 9.62086879e-01 -1.21775545e-03 8.20287090e+00] [ 4.28552778e-03 5.08347917e-05 9.99990816e-01 6.12057926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:60.61, Y:8.21, Z:0.06 [[ 9.62181760e-01 -2.72377268e-01 -4.10903367e-03 6.06136946e+01] [ 2.72374548e-01 9.62190533e-01 -1.21826701e-03 8.21211699e+00] [ 4.28550154e-03 5.29981034e-05 9.99990816e-01 6.29605072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:60.64, Y:8.22, Z:0.06 [[ 9.62402653e-01 -2.71595748e-01 -4.10879572e-03 6.06400620e+01] [ 2.71593018e-01 9.62411423e-01 -1.21906900e-03 8.22170693e+00] [ 4.28544589e-03 5.73150105e-05 9.99990816e-01 6.01974300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:60.67, Y:8.23, Z:0.06 [[ 9.62258074e-01 -2.72107546e-01 -4.10872145e-03 6.06669778e+01] [ 2.72104820e-01 9.62266845e-01 -1.21931929e-03 8.23084763e+00] [ 4.28547240e-03 5.52969168e-05 9.99990816e-01 5.88817053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.69, Y:8.24, Z:0.06 [[ 9.61938607e-01 -2.73234763e-01 -4.10850063e-03 6.06935309e+01] [ 2.73232044e-01 9.61947380e-01 -1.22006288e-03 8.23968832e+00] [ 4.28552501e-03 5.10515632e-05 9.99990816e-01 6.10446245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.498623853 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:60.72, Y:8.25, Z:0.07 [[ 9.61055737e-01 -2.76324070e-01 -4.10826144e-03 6.07194868e+01] [ 2.76321376e-01 9.61064517e-01 -1.22086777e-03 8.25027039e+00] [ 4.28565945e-03 3.81215221e-05 9.99990816e-01 6.73382750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:60.74, Y:8.26, Z:0.06 [[ 9.60485311e-01 -2.78300362e-01 -4.10801880e-03 6.07448967e+01] [ 2.78297682e-01 9.60494095e-01 -1.22168364e-03 8.25884391e+00] [ 4.28572281e-03 3.01570809e-05 9.99990816e-01 5.92795610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.558623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:60.77, Y:8.27, Z:0.06 [[ 9.59756082e-01 -2.80804892e-01 -4.10791361e-03 6.07714536e+01] [ 2.80802233e-01 9.59764874e-01 -1.22203727e-03 8.26842509e+00] [ 4.28578523e-03 1.93463882e-05 9.99990816e-01 6.42357913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:8.28, Z:0.06 [[ 9.58377380e-01 -2.85474912e-01 -4.10767941e-03 6.07978933e+01] [ 2.85472293e-01 9.58386182e-01 -1.22282398e-03 8.27558953e+00] [ 4.28582876e-03 -7.01818290e-07 9.99990816e-01 6.09316269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.618623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.82, Y:8.28, Z:0.06 [[ 9.57640528e-01 -2.87937052e-01 -4.10760669e-03 6.08243388e+01] [ 2.87934455e-01 9.57649338e-01 -1.22306821e-03 8.28311342e+00] [ 4.28581348e-03 -1.14618023e-05 9.99990816e-01 6.27484593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:60.85, Y:8.29, Z:0.06 [[ 9.56478600e-01 -2.91773570e-01 -4.10744786e-03 6.08503871e+01] [ 2.91771006e-01 9.56487419e-01 -1.22360137e-03 8.29075282e+00] [ 4.28573674e-03 -2.80856742e-05 9.99990816e-01 6.25137489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.678623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:60.88, Y:8.30, Z:0.06 [[ 9.55925783e-01 -2.93579677e-01 -4.10734693e-03 6.08768576e+01] [ 2.93577128e-01 9.55934607e-01 -1.22394008e-03 8.29826060e+00] [ 4.28567900e-03 -3.58272300e-05 9.99990816e-01 6.31850159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:60.90, Y:8.31, Z:0.07 [[ 9.55464989e-01 -2.95075899e-01 -4.10711491e-03 6.09021967e+01] [ 2.95073361e-01 9.55473815e-01 -1.22471815e-03 8.30608134e+00] [ 4.28562557e-03 -4.17248901e-05 9.99990816e-01 6.88330722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:8.31, Z:0.06 [[ 9.54850023e-01 -2.97059869e-01 -4.10695704e-03 6.09293456e+01] [ 2.97057347e-01 9.54858854e-01 -1.22524733e-03 8.31431888e+00] [ 4.28553611e-03 -5.00743189e-05 9.99990816e-01 6.36981272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:60.96, Y:8.32, Z:0.06 [[ 9.54567169e-01 -2.97967541e-01 -4.10672420e-03 6.09565692e+01] [ 2.97965023e-01 9.54576001e-01 -1.22602725e-03 8.32262440e+00] [ 4.28549669e-03 -5.33348122e-05 9.99990816e-01 6.44215424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:8.33, Z:0.07 [[ 9.54438910e-01 -2.98378122e-01 -4.10648284e-03 6.09834396e+01] [ 2.98375604e-01 9.54447743e-01 -1.22683515e-03 8.33006810e+00] [ 4.28548404e-03 -5.43350903e-05 9.99990816e-01 6.51106251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.01, Y:8.34, Z:0.06 [[ 9.54456068e-01 -2.98323234e-01 -4.10623986e-03 6.10097382e+01] [ 2.98320713e-01 9.54464900e-01 -1.22764787e-03 8.33694015e+00] [ 4.28549770e-03 -5.32404393e-05 9.99990816e-01 6.49384823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.04, Y:8.34, Z:0.07 [[ 9.54519112e-01 -2.98121460e-01 -4.10613421e-03 6.10363521e+01] [ 2.98118935e-01 9.54527942e-01 -1.22800114e-03 8.34473993e+00] [ 4.28551333e-03 -5.19657965e-05 9.99990816e-01 6.59613961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.06, Y:8.35, Z:0.07 [[ 9.54699479e-01 -2.97543353e-01 -4.10589354e-03 6.10624613e+01] [ 2.97540820e-01 9.54708307e-01 -1.22880529e-03 8.35228293e+00] [ 4.28555352e-03 -4.85311573e-05 9.99990816e-01 6.55119204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.918623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.09, Y:8.36, Z:0.07 [[ 9.54788168e-01 -2.97258637e-01 -4.10578910e-03 6.10893115e+01] [ 2.97256100e-01 9.54796994e-01 -1.22915415e-03 8.36032357e+00] [ 4.28557178e-03 -4.68890185e-05 9.99990816e-01 6.61752817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:8.37, Z:0.07 [[ 9.55189895e-01 -2.95965215e-01 -4.10555129e-03 6.11159396e+01] [ 2.95962662e-01 9.55198718e-01 -1.22994798e-03 8.36767734e+00] [ 4.28563914e-03 -4.02560099e-05 9.99990816e-01 6.74246979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:8.37, Z:0.07 [[ 9.55259769e-01 -2.95739612e-01 -4.10547729e-03 6.11419023e+01] [ 2.95737056e-01 9.55268591e-01 -1.23019493e-03 8.37493255e+00] [ 4.28565087e-03 -3.89860422e-05 9.99990816e-01 6.56439049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.17, Y:8.38, Z:0.07 [[ 9.55344348e-01 -2.95466281e-01 -4.10537516e-03 6.11690016e+01] [ 2.95463721e-01 9.55353168e-01 -1.23053566e-03 8.38248770e+00] [ 4.28566496e-03 -3.74041360e-05 9.99990816e-01 6.77669048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.038623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.20, Y:8.39, Z:0.07 [[ 9.55411010e-01 -2.95250657e-01 -4.10514111e-03 6.11956493e+01] [ 2.95248091e-01 9.55419828e-01 -1.23131598e-03 8.38939390e+00] [ 4.28568006e-03 -3.56222330e-05 9.99990816e-01 6.72331769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.22, Y:8.40, Z:0.07 [[ 9.55501197e-01 -2.94958663e-01 -4.10490712e-03 6.12221361e+01] [ 2.94956091e-01 9.55510014e-01 -1.23209555e-03 8.39672093e+00] [ 4.28569711e-03 -3.34985846e-05 9.99990816e-01 6.69988656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.098623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.25, Y:8.40, Z:0.07 [[ 9.55837048e-01 -2.93868488e-01 -4.10480499e-03 6.12497348e+01] [ 2.93865905e-01 9.55845861e-01 -1.23243571e-03 8.40337261e+00] [ 4.28573488e-03 -2.82545241e-05 9.99990816e-01 6.51272945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.28, Y:8.41, Z:0.06 [[ 9.55991897e-01 -2.93364357e-01 -4.10457446e-03 6.12762008e+01] [ 2.93361766e-01 9.56000708e-01 -1.23320301e-03 8.41088791e+00] [ 4.28575389e-03 -2.51931312e-05 9.99990816e-01 6.45077603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.30, Y:8.42, Z:0.07 [[ 9.56378062e-01 -2.92102992e-01 -4.10434138e-03 6.13030007e+01] [ 2.92100386e-01 9.56386868e-01 -1.23397825e-03 8.41817704e+00] [ 4.28578693e-03 -1.87299706e-05 9.99990816e-01 6.56730474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:8.43, Z:0.07 [[ 9.56477442e-01 -2.91777415e-01 -4.10410899e-03 6.13290855e+01] [ 2.91774803e-01 9.56486247e-01 -1.23475067e-03 8.42537478e+00] [ 4.28579616e-03 -1.64644299e-05 9.99990816e-01 6.63768284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.36, Y:8.43, Z:0.07 [[ 9.56535888e-01 -2.91585754e-01 -4.10395021e-03 6.13564014e+01] [ 2.91583138e-01 9.56544692e-01 -1.23527818e-03 8.43250470e+00] [ 4.28580131e-03 -1.50547704e-05 9.99990816e-01 6.72824170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.38, Y:8.44, Z:0.07 [[ 9.56568932e-01 -2.91477337e-01 -4.10370957e-03 6.13825136e+01] [ 2.91474716e-01 9.56577734e-01 -1.23607708e-03 8.43920511e+00] [ 4.28580566e-03 -1.37346481e-05 9.99990816e-01 6.51082052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.41, Y:8.45, Z:0.07 [[ 9.56520284e-01 -2.91636944e-01 -4.10354473e-03 6.14097308e+01] [ 2.91634323e-01 9.56529086e-01 -1.23662407e-03 8.44764142e+00] [ 4.28580516e-03 -1.38784794e-05 9.99990816e-01 6.52302869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:61.44, Y:8.46, Z:0.07 [[ 9.56754490e-01 -2.90867682e-01 -4.10333828e-03 6.14362521e+01] [ 2.90865051e-01 9.56763289e-01 -1.23730875e-03 8.45531263e+00] [ 4.28581656e-03 -9.71699810e-06 9.99990816e-01 6.62702462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.338623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.46, Y:8.46, Z:0.07 [[ 9.56665021e-01 -2.91161813e-01 -4.10311456e-03 6.14627021e+01] [ 2.91159181e-01 9.56673820e-01 -1.23805020e-03 8.46343148e+00] [ 4.28581522e-03 -1.02601490e-05 9.99990816e-01 6.77003482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.49, Y:8.47, Z:0.07 [[ 9.56692886e-01 -2.91070246e-01 -4.10288110e-03 6.14896709e+01] [ 2.91067610e-01 9.56701684e-01 -1.23882339e-03 8.47120245e+00] [ 4.28581789e-03 -9.04226614e-06 9.99990816e-01 6.85195451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.398623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.52, Y:8.48, Z:0.07 [[ 9.56839027e-01 -2.90589477e-01 -4.10264357e-03 6.15156284e+01] [ 2.90586833e-01 9.56847823e-01 -1.23960953e-03 8.47825172e+00] [ 4.28582305e-03 -6.06741822e-06 9.99990816e-01 7.29891122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.54, Y:8.49, Z:0.07 [[ 9.56949965e-01 -2.90223937e-01 -4.10254023e-03 6.15430515e+01] [ 2.90221288e-01 9.56958759e-01 -1.23995146e-03 8.48530824e+00] [ 4.28582540e-03 -4.07300613e-06 9.99990816e-01 7.13059678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.57, Y:8.49, Z:0.07 [[ 9.57043696e-01 -2.89914705e-01 -4.10230527e-03 6.15695192e+01] [ 2.89912050e-01 9.57052488e-01 -1.24072829e-03 8.49207750e+00] [ 4.28582684e-03 -1.87654232e-06 9.99990816e-01 7.18994443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:61.60, Y:8.50, Z:0.07 [[ 9.57098188e-01 -2.89734760e-01 -4.10220277e-03 6.15966334e+01] [ 2.89732102e-01 9.57106979e-01 -1.24106710e-03 8.49892153e+00] [ 4.28582718e-03 -7.16756414e-07 9.99990816e-01 7.29464152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.62, Y:8.51, Z:0.07 [[ 9.57103858e-01 -2.89716029e-01 -4.10213009e-03 6.16232622e+01] [ 2.89713370e-01 9.57112649e-01 -1.24130730e-03 8.50718303e+00] [ 4.28582722e-03 -3.81925621e-07 9.99990816e-01 7.27310364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:61.65, Y:8.51, Z:0.07 [[ 9.57171582e-01 -2.89492204e-01 -4.10189927e-03 6.16496077e+01] [ 2.89489540e-01 9.57180372e-01 -1.24206958e-03 8.51488785e+00] [ 4.28582692e-03 1.41677889e-06 9.99990816e-01 7.21886751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:8.52, Z:0.07 [[ 9.57210757e-01 -2.89362647e-01 -4.10174172e-03 6.16774420e+01] [ 2.89359979e-01 9.57219546e-01 -1.24258963e-03 8.52097375e+00] [ 4.28582637e-03 2.54026598e-06 9.99990816e-01 7.23175179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.70, Y:8.53, Z:0.07 [[ 9.57294270e-01 -2.89086246e-01 -4.10151357e-03 6.17049621e+01] [ 2.89083572e-01 9.57303057e-01 -1.24334225e-03 8.52777395e+00] [ 4.28582462e-03 4.56421868e-06 9.99990816e-01 7.20948707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.638623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:61.73, Y:8.54, Z:0.08 [[ 9.57400090e-01 -2.88735600e-01 -4.10128651e-03 6.17322684e+01] [ 2.88732920e-01 9.57408875e-01 -1.24409077e-03 8.53528177e+00] [ 4.28582140e-03 6.91618755e-06 9.99990816e-01 7.67836021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.76, Y:8.54, Z:0.07 [[ 9.57772970e-01 -2.87496293e-01 -4.10105872e-03 6.17587112e+01] [ 2.87493599e-01 9.57781750e-01 -1.24484121e-03 8.54236011e+00] [ 4.28580644e-03 1.32471343e-05 9.99990816e-01 7.00681275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.78, Y:8.55, Z:0.07 [[ 9.58072190e-01 -2.86497576e-01 -4.10090356e-03 6.17847001e+01] [ 2.86494870e-01 9.58080967e-01 -1.24535216e-03 8.55038367e+00] [ 4.28578802e-03 1.82494379e-05 9.99990816e-01 6.95026589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.81, Y:8.56, Z:0.07 [[ 9.58315064e-01 -2.85684129e-01 -4.10080581e-03 6.18110843e+01] [ 2.85681414e-01 9.58323838e-01 -1.24567394e-03 8.55936557e+00] [ 4.28576924e-03 2.22240984e-05 9.99990816e-01 6.90019877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.84, Y:8.57, Z:0.07 [[ 9.58809317e-01 -2.84020913e-01 -4.10058181e-03 6.18370935e+01] [ 2.84018179e-01 9.58818085e-01 -1.24641089e-03 8.56790437e+00] [ 4.28571876e-03 3.04305928e-05 9.99990816e-01 6.69241162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:61.86, Y:8.58, Z:0.07 [[ 9.59012405e-01 -2.83334418e-01 -4.10051214e-03 6.18636592e+01] [ 2.83331678e-01 9.59021171e-01 -1.24664006e-03 8.57575301e+00] [ 4.28569399e-03 3.37383005e-05 9.99990816e-01 6.67182794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.89, Y:8.58, Z:0.07 [[ 9.59119054e-01 -2.82973191e-01 -4.10029071e-03 6.18909667e+01] [ 2.82970445e-01 9.59127818e-01 -1.24736793e-03 8.58335790e+00] [ 4.28567457e-03 3.61132686e-05 9.99990816e-01 6.66788837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.92, Y:8.59, Z:0.07 [[ 9.59031793e-01 -2.83268795e-01 -4.10007078e-03 6.19177346e+01] [ 2.83266047e-01 9.59040556e-01 -1.24809042e-03 8.58958462e+00] [ 4.28567923e-03 3.55475475e-05 9.99990816e-01 6.70603718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:61.94, Y:8.60, Z:0.07 [[ 9.58946557e-01 -2.83557211e-01 -4.09992088e-03 6.19436555e+01] [ 2.83554464e-01 9.58955321e-01 -1.24858265e-03 8.59731291e+00] [ 4.28568555e-03 3.47731695e-05 9.99990816e-01 7.33028516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:8.61, Z:0.07 [[ 9.58723718e-01 -2.84309734e-01 -4.09982592e-03 6.19700850e+01] [ 2.84306992e-01 9.58732483e-01 -1.24889438e-03 8.60581463e+00] [ 4.28570911e-03 3.17354859e-05 9.99990816e-01 6.84156862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.00, Y:8.61, Z:0.07 [[ 9.58342038e-01 -2.85593646e-01 -4.09960887e-03 6.19958040e+01] [ 2.85590913e-01 9.58350807e-01 -1.24960644e-03 8.61387743e+00] [ 4.28574313e-03 2.67393363e-05 9.99990816e-01 6.79124844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.02, Y:8.62, Z:0.07 [[ 9.58096767e-01 -2.86415395e-01 -4.09951439e-03 6.20231987e+01] [ 2.86412668e-01 9.58105538e-01 -1.24991634e-03 8.62159917e+00] [ 4.28576272e-03 2.33879486e-05 9.99990816e-01 7.00620899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.05, Y:8.63, Z:0.07 [[ 9.57843095e-01 -2.87262600e-01 -4.09927815e-03 6.20497503e+01] [ 2.87259878e-01 9.57851866e-01 -1.25069063e-03 8.62838987e+00] [ 4.28577787e-03 2.04072383e-05 9.99990816e-01 6.85742571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.08, Y:8.64, Z:0.07 [[ 9.57397531e-01 -2.88744116e-01 -4.09911706e-03 6.20769926e+01] [ 2.88741405e-01 9.57406306e-01 -1.25121837e-03 8.63525511e+00] [ 4.28580247e-03 1.43285613e-05 9.99990816e-01 6.84029605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.10, Y:8.64, Z:0.07 [[ 9.57273337e-01 -2.89155593e-01 -4.09890007e-03 6.21033056e+01] [ 2.89152883e-01 9.57282112e-01 -1.25192881e-03 8.64324589e+00] [ 4.28580594e-03 1.32292914e-05 9.99990816e-01 6.78799661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.13, Y:8.65, Z:0.07 [[ 9.57157385e-01 -2.89539186e-01 -4.09868433e-03 6.21299514e+01] [ 2.89536477e-01 9.57166161e-01 -1.25263474e-03 8.65147239e+00] [ 4.28580879e-03 1.22499748e-05 9.99990816e-01 6.82900940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.16, Y:8.66, Z:0.07 [[ 9.57057811e-01 -2.89868157e-01 -4.09846814e-03 6.21560433e+01] [ 2.89865448e-01 9.57066587e-01 -1.25334169e-03 8.65896442e+00] [ 4.28581076e-03 1.15161568e-05 9.99990816e-01 6.79028805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:8.67, Z:0.07 [[ 9.56791739e-01 -2.90745201e-01 -4.09837399e-03 6.21833970e+01] [ 2.90742498e-01 9.56800516e-01 -1.25364948e-03 8.66628181e+00] [ 4.28581892e-03 7.90997197e-06 9.99990816e-01 6.67215162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:8.67, Z:0.07 [[ 9.56668635e-01 -2.91150010e-01 -4.09815980e-03 6.22101659e+01] [ 2.91147308e-01 9.56677412e-01 -1.25434925e-03 8.67320910e+00] [ 4.28582071e-03 6.82839021e-06 9.99990816e-01 6.77096933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.24, Y:8.68, Z:0.07 [[ 9.56624128e-01 -2.91296214e-01 -4.09793010e-03 6.22376729e+01] [ 2.91293510e-01 9.56632905e-01 -1.25509924e-03 8.67984346e+00] [ 4.28582043e-03 6.95777208e-06 9.99990816e-01 6.78914925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:8.69, Z:0.07 [[ 9.56653928e-01 -2.91198337e-01 -4.09769296e-03 6.22643472e+01] [ 2.91195629e-01 9.56662704e-01 -1.25587297e-03 8.68774562e+00] [ 4.28581815e-03 8.20553494e-06 9.99990816e-01 6.73847874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:8.70, Z:0.07 [[ 9.56770391e-01 -2.90815456e-01 -4.09745500e-03 6.22899233e+01] [ 2.90812741e-01 9.56779165e-01 -1.25664889e-03 8.69553365e+00] [ 4.28581249e-03 1.07323295e-05 9.99990816e-01 6.69878977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.32, Y:8.70, Z:0.07 [[ 9.56912871e-01 -2.90346293e-01 -4.09735165e-03 6.23168819e+01] [ 2.90343572e-01 9.56921643e-01 -1.25698578e-03 8.70322913e+00] [ 4.28580563e-03 1.31861602e-05 9.99990816e-01 6.78761047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.34, Y:8.71, Z:0.07 [[ 9.57048755e-01 -2.89898077e-01 -4.09711593e-03 6.23431362e+01] [ 2.89895349e-01 9.57057524e-01 -1.25775362e-03 8.71098711e+00] [ 4.28579599e-03 1.59966793e-05 9.99990816e-01 6.83389901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.37, Y:8.72, Z:0.07 [[ 9.57641785e-01 -2.87933022e-01 -4.09701359e-03 6.23700459e+01] [ 2.87930275e-01 9.57650549e-01 -1.25808689e-03 8.71890544e+00] [ 4.28575208e-03 2.51423259e-05 9.99990816e-01 6.80690317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.40, Y:8.73, Z:0.07 [[ 9.57957882e-01 -2.86879610e-01 -4.09694095e-03 6.23967890e+01] [ 2.86876852e-01 9.57966643e-01 -1.25832340e-03 8.72711350e+00] [ 4.28572010e-03 3.01032954e-05 9.99990816e-01 7.07710346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.42, Y:8.74, Z:0.07 [[ 9.58278224e-01 -2.85807737e-01 -4.09670955e-03 6.24225243e+01] [ 2.85804966e-01 9.58286980e-01 -1.25907633e-03 8.73537894e+00] [ 4.28567718e-03 3.56854990e-05 9.99990816e-01 7.02659150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.45, Y:8.74, Z:0.07 [[ 9.58950080e-01 -2.83545343e-01 -4.09655137e-03 6.24494073e+01] [ 2.83542549e-01 9.58958829e-01 -1.25959078e-03 8.74384029e+00] [ 4.28557520e-03 4.63380668e-05 9.99990816e-01 6.75227243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.478623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:62.48, Y:8.75, Z:0.07 [[ 9.59325609e-01 -2.82272200e-01 -4.09647990e-03 6.24769273e+01] [ 2.82269393e-01 9.59334354e-01 -1.25982317e-03 8.75232381e+00] [ 4.28550695e-03 5.22697321e-05 9.99990816e-01 7.24411805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.508623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.50, Y:8.76, Z:0.07 [[ 9.59515853e-01 -2.81624835e-01 -4.09628061e-03 6.25039382e+01] [ 2.81622020e-01 9.59524595e-01 -1.26047080e-03 8.76144818e+00] [ 4.28546188e-03 5.58389009e-05 9.99990816e-01 6.61611903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.53, Y:8.77, Z:0.07 [[ 9.59717089e-01 -2.80938304e-01 -4.09605427e-03 6.25299215e+01] [ 2.80935479e-01 9.59725828e-01 -1.26120591e-03 8.77003394e+00] [ 4.28541013e-03 5.96738955e-05 9.99990816e-01 6.50146879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.56, Y:8.78, Z:0.07 [[ 9.60013899e-01 -2.79922375e-01 -4.09598391e-03 6.25570004e+01] [ 2.79919540e-01 9.60022635e-01 -1.26143437e-03 8.77937062e+00] [ 4.28534097e-03 6.44485917e-05 9.99990816e-01 6.84019597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.58, Y:8.79, Z:0.07 [[ 9.60115150e-01 -2.79574898e-01 -4.09578850e-03 6.25831488e+01] [ 2.79572057e-01 9.60123884e-01 -1.26206852e-03 8.78785246e+00] [ 4.28530704e-03 6.66630877e-05 9.99990816e-01 6.80986186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.61, Y:8.80, Z:0.07 [[ 9.60120109e-01 -2.79557867e-01 -4.09571897e-03 6.26101356e+01] [ 2.79555025e-01 9.60128843e-01 -1.26229413e-03 8.79657187e+00] [ 4.28530217e-03 6.69751613e-05 9.99990816e-01 7.41799796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.64, Y:8.81, Z:0.07 [[ 9.60175100e-01 -2.79368941e-01 -4.09549706e-03 6.26353691e+01] [ 2.79366094e-01 9.60183832e-01 -1.26301372e-03 8.80502335e+00] [ 4.28527686e-03 6.85713128e-05 9.99990816e-01 7.49297813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.66, Y:8.81, Z:0.08 [[ 9.60110455e-01 -2.79591026e-01 -4.09534582e-03 6.26614492e+01] [ 2.79588180e-01 9.60119187e-01 -1.26350392e-03 8.81384544e+00] [ 4.28528446e-03 6.80930464e-05 9.99990816e-01 7.59976399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:8.82, Z:0.07 [[ 9.60030408e-01 -2.79865765e-01 -4.09512655e-03 6.26878135e+01] [ 2.79862917e-01 9.60039139e-01 -1.26421418e-03 8.82241554e+00] [ 4.28529204e-03 6.76099929e-05 9.99990816e-01 7.07037381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.71, Y:8.83, Z:0.08 [[ 9.59803499e-01 -2.80642967e-01 -4.09505826e-03 6.27144360e+01] [ 2.80640126e-01 9.59812232e-01 -1.26443536e-03 8.83088733e+00] [ 4.28534190e-03 6.43718228e-05 9.99990816e-01 7.70605914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.778623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.74, Y:8.84, Z:0.07 [[ 9.59298398e-01 -2.82364684e-01 -4.09484093e-03 6.27405816e+01] [ 2.82361856e-01 9.59307136e-01 -1.26513880e-03 8.84055426e+00] [ 4.28544064e-03 5.74187372e-05 9.99990816e-01 7.35493533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:62.77, Y:8.85, Z:0.08 [[ 9.58955647e-01 -2.83526545e-01 -4.09459322e-03 6.27664041e+01] [ 2.83523724e-01 9.58964387e-01 -1.26593998e-03 8.84965719e+00] [ 4.28549667e-03 5.30659811e-05 9.99990816e-01 7.57680985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.79, Y:8.86, Z:0.07 [[ 9.58508666e-01 -2.85033985e-01 -4.09451643e-03 6.27926297e+01] [ 2.85031177e-01 9.58517410e-01 -1.26618832e-03 8.85925051e+00] [ 4.28557198e-03 4.65876386e-05 9.99990816e-01 6.96227443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.868623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.82, Y:8.87, Z:0.07 [[ 9.58094366e-01 -2.86423502e-01 -4.09430063e-03 6.28190050e+01] [ 2.86420703e-01 9.58103113e-01 -1.26688573e-03 8.86812120e+00] [ 4.28562803e-03 4.11036110e-05 9.99990816e-01 7.18574313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:8.88, Z:0.07 [[ 9.57437400e-01 -2.88611959e-01 -4.09406366e-03 6.28452272e+01] [ 2.88609177e-01 9.57446153e-01 -1.26765106e-03 8.87742906e+00] [ 4.28570476e-03 3.21121912e-05 9.99990816e-01 7.01281682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:8.89, Z:0.07 [[ 9.57147430e-01 -2.89572160e-01 -4.09398988e-03 6.28707557e+01] [ 2.89569386e-01 9.57156185e-01 -1.26788929e-03 8.88659736e+00] [ 4.28573318e-03 2.80628370e-05 9.99990816e-01 6.88553089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.90, Y:8.90, Z:0.07 [[ 9.56969838e-01 -2.90158524e-01 -4.09389082e-03 6.28970040e+01] [ 2.90155754e-01 9.56978594e-01 -1.26820907e-03 8.89600518e+00] [ 4.28574755e-03 2.57718541e-05 9.99990816e-01 7.16699039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.92, Y:8.91, Z:0.07 [[ 9.56785915e-01 -2.90764433e-01 -4.09364950e-03 6.29234590e+01] [ 2.90761665e-01 9.56794672e-01 -1.26898753e-03 8.90669200e+00] [ 4.28575847e-03 2.38730505e-05 9.99990816e-01 7.23024466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:8.92, Z:0.07 [[ 9.56687438e-01 -2.91088286e-01 -4.09340686e-03 6.29495912e+01] [ 2.91085518e-01 9.56696195e-01 -1.26976975e-03 8.91655397e+00] [ 4.28576187e-03 2.32413158e-05 9.99990816e-01 7.19653780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:8.93, Z:0.07 [[ 9.56574889e-01 -2.91457934e-01 -4.09316539e-03 6.29740883e+01] [ 2.91455166e-01 9.56583646e-01 -1.27054767e-03 8.92738127e+00] [ 4.28576627e-03 2.23998010e-05 9.99990816e-01 7.13667270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:63.00, Y:8.94, Z:0.08 [[ 9.56318420e-01 -2.92298353e-01 -4.09306045e-03 6.29997569e+01] [ 2.92295590e-01 9.56327179e-01 -1.27088563e-03 8.93601557e+00] [ 4.28578273e-03 1.89878187e-05 9.99990816e-01 7.53101368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:63.03, Y:8.94, Z:0.08 [[ 9.55950045e-01 -2.93500866e-01 -4.09295621e-03 6.30264016e+01] [ 2.93498114e-01 9.55958807e-01 -1.27122126e-03 8.94477743e+00] [ 4.28580208e-03 1.39490932e-05 9.99990816e-01 7.66568703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:8.95, Z:0.07 [[ 9.55156816e-01 -2.96072132e-01 -4.09271625e-03 6.30523757e+01] [ 2.96069400e-01 9.55165584e-01 -1.27199336e-03 8.95477728e+00] [ 4.28582349e-03 3.22508213e-06 9.99990816e-01 7.31831093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.08, Y:8.96, Z:0.07 [[ 9.55101681e-01 -2.96249945e-01 -4.09264146e-03 6.30795295e+01] [ 2.96247214e-01 9.55110449e-01 -1.27223393e-03 8.96342305e+00] [ 4.28582386e-03 2.67913284e-06 9.99990816e-01 7.33052216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.11, Y:8.97, Z:0.07 [[ 9.54683866e-01 -2.97593629e-01 -4.09240447e-03 6.31058690e+01] [ 2.97590906e-01 9.54692637e-01 -1.27299580e-03 8.97232777e+00] [ 4.28582386e-03 -2.55380622e-06 9.99990816e-01 7.41612299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.13, Y:8.98, Z:0.07 [[ 9.54310027e-01 -2.98790272e-01 -4.09216717e-03 6.31313425e+01] [ 2.98787557e-01 9.54318801e-01 -1.27375818e-03 8.98044886e+00] [ 4.28581862e-03 -7.12843061e-06 9.99990816e-01 7.42307732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.16, Y:8.99, Z:0.07 [[ 9.53804569e-01 -3.00399898e-01 -4.09206383e-03 6.31568152e+01] [ 3.00397196e-01 9.53813347e-01 -1.27409008e-03 8.98934607e+00] [ 4.28580163e-03 -1.40115646e-05 9.99990816e-01 7.48359254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:63.18, Y:9.00, Z:0.08 [[ 9.53655439e-01 -3.00872997e-01 -4.09190300e-03 6.31829900e+01] [ 3.00870298e-01 9.53664217e-01 -1.27460640e-03 8.99790579e+00] [ 4.28579612e-03 -1.55967484e-05 9.99990816e-01 8.09127813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:9.01, Z:0.08 [[ 9.53614380e-01 -3.01003111e-01 -4.09166694e-03 6.32092625e+01] [ 3.01000410e-01 9.53623158e-01 -1.27536372e-03 9.00582999e+00] [ 4.28579680e-03 -1.53882409e-05 9.99990816e-01 7.56339739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.24, Y:9.01, Z:0.08 [[ 9.53561590e-01 -3.01170306e-01 -4.09159346e-03 6.32358143e+01] [ 3.01167605e-01 9.53570368e-01 -1.27559943e-03 9.01376341e+00] [ 4.28579495e-03 -1.58927822e-05 9.99990816e-01 7.91685440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:9.02, Z:0.08 [[ 9.53761080e-01 -3.00537957e-01 -4.09135263e-03 6.32616981e+01] [ 3.00535247e-01 9.53769855e-01 -1.27637140e-03 9.02189176e+00] [ 4.28580686e-03 -1.22423099e-05 9.99990816e-01 7.55387238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.29, Y:9.03, Z:0.07 [[ 9.53824805e-01 -3.00335650e-01 -4.09124803e-03 6.32869326e+01] [ 3.00332936e-01 9.53833579e-01 -1.27670658e-03 9.03025897e+00] [ 4.28581026e-03 -1.09821261e-05 9.99990816e-01 7.35648019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:9.04, Z:0.07 [[ 9.53843293e-01 -3.00276930e-01 -4.09114558e-03 6.33135730e+01] [ 3.00274214e-01 9.53852067e-01 -1.27703481e-03 9.03885667e+00] [ 4.28581176e-03 -1.03744358e-05 9.99990816e-01 7.27162254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.34, Y:9.05, Z:0.07 [[ 9.53928129e-01 -3.00007315e-01 -4.09091622e-03 6.33397099e+01] [ 3.00004594e-01 9.53936901e-01 -1.27776911e-03 9.04646042e+00] [ 4.28581602e-03 -8.39376741e-06 9.99990816e-01 7.11497612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:9.05, Z:0.07 [[ 9.53841805e-01 -3.00281661e-01 -4.09081670e-03 6.33667690e+01] [ 3.00278941e-01 9.53850578e-01 -1.27808765e-03 9.05466825e+00] [ 4.28581416e-03 -9.29267473e-06 9.99990816e-01 7.07815044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.39, Y:9.06, Z:0.07 [[ 9.53720721e-01 -3.00666018e-01 -4.09058930e-03 6.33929117e+01] [ 3.00663298e-01 9.53729493e-01 -1.27881503e-03 9.06247136e+00] [ 4.28581189e-03 -1.02576782e-05 9.99990816e-01 7.05895275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:9.07, Z:0.07 [[ 9.53549403e-01 -3.01208905e-01 -4.09049032e-03 6.34202403e+01] [ 3.01206189e-01 9.53558176e-01 -1.27913158e-03 9.07033999e+00] [ 4.28580631e-03 -1.23658436e-05 9.99990816e-01 7.12946920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.45, Y:9.08, Z:0.07 [[ 9.53332174e-01 -3.01895735e-01 -4.09026354e-03 6.34480016e+01] [ 3.01893023e-01 9.53340949e-01 -1.27985633e-03 9.07773945e+00] [ 4.28579889e-03 -1.46938030e-05 9.99990816e-01 7.30069235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:9.08, Z:0.07 [[ 9.53002126e-01 -3.02935998e-01 -4.09006587e-03 6.34749737e+01] [ 3.02933292e-01 9.53010903e-01 -1.28048774e-03 9.08373511e+00] [ 4.28578319e-03 -1.87095818e-05 9.99990816e-01 7.48218758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:63.50, Y:9.09, Z:0.08 [[ 9.53064532e-01 -3.02739611e-01 -4.08983815e-03 6.35011397e+01] [ 3.02736900e-01 9.53073307e-01 -1.28121465e-03 9.09161320e+00] [ 4.28578999e-03 -1.70646867e-05 9.99990816e-01 8.09190479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:9.10, Z:0.07 [[ 9.53576083e-01 -3.01124441e-01 -4.08973906e-03 6.35263714e+01] [ 3.01121714e-01 9.53584853e-01 -1.28153087e-03 9.10008519e+00] [ 4.28581348e-03 -9.47204681e-06 9.99990816e-01 7.45646404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.55, Y:9.11, Z:0.07 [[ 9.53923739e-01 -3.00021291e-01 -4.08964290e-03 6.35529598e+01] [ 3.00018552e-01 9.53932506e-01 -1.28183767e-03 9.10855257e+00] [ 4.28582189e-03 -4.19335811e-06 9.99990816e-01 7.34610283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.58, Y:9.12, Z:0.07 [[ 9.54341970e-01 -2.98688266e-01 -4.08942264e-03 6.35796632e+01] [ 2.98685513e-01 9.54350732e-01 -1.28253996e-03 9.11730225e+00] [ 4.28582313e-03 2.53041282e-06 9.99990816e-01 7.31487292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.61, Y:9.13, Z:0.08 [[ 9.54755179e-01 -2.97364804e-01 -4.08920277e-03 6.36059194e+01] [ 2.97362035e-01 9.54763936e-01 -1.28324059e-03 9.12605400e+00] [ 4.28581392e-03 9.20694136e-06 9.99990816e-01 7.74480954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:9.14, Z:0.08 [[ 9.55337408e-01 -2.95488947e-01 -4.08898308e-03 6.36329186e+01] [ 2.95486158e-01 9.55346158e-01 -1.28394025e-03 9.13507018e+00] [ 4.28578443e-03 1.83582535e-05 9.99990816e-01 7.55447345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:9.14, Z:0.08 [[ 9.55434661e-01 -2.95174338e-01 -4.08874593e-03 6.36591598e+01] [ 2.95171543e-01 9.55443410e-01 -1.28469504e-03 9.14329768e+00] [ 4.28577436e-03 2.05607207e-05 9.99990816e-01 7.66706946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:9.15, Z:0.07 [[ 9.55479129e-01 -2.95030367e-01 -4.08849847e-03 6.36851875e+01] [ 2.95027567e-01 9.55487877e-01 -1.28548207e-03 9.15171194e+00] [ 4.28576697e-03 2.20315281e-05 9.99990816e-01 7.44774160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.71, Y:9.16, Z:0.08 [[ 9.55447749e-01 -2.95131976e-01 -4.08839059e-03 6.37117275e+01] [ 2.95129176e-01 9.55456496e-01 -1.28582509e-03 9.16117655e+00] [ 4.28576745e-03 2.19353401e-05 9.99990816e-01 7.73463061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:9.17, Z:0.08 [[ 9.55445974e-01 -2.95137725e-01 -4.08813860e-03 6.37372235e+01] [ 2.95134922e-01 9.55454720e-01 -1.28662576e-03 9.16950688e+00] [ 4.28576312e-03 2.27489384e-05 9.99990816e-01 7.67044485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:9.18, Z:0.08 [[ 9.55480546e-01 -2.95025787e-01 -4.08796702e-03 6.37633093e+01] [ 2.95022980e-01 9.55489291e-01 -1.28717068e-03 9.17815802e+00] [ 4.28575725e-03 2.38223279e-05 9.99990816e-01 7.58823209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.79, Y:9.19, Z:0.08 [[ 9.55599387e-01 -2.94640629e-01 -4.08785991e-03 6.37900511e+01] [ 2.94637817e-01 9.55608131e-01 -1.28751076e-03 9.18749899e+00] [ 4.28574515e-03 2.59063688e-05 9.99990816e-01 7.74139883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.82, Y:9.20, Z:0.08 [[ 9.55690320e-01 -2.94345552e-01 -4.08761987e-03 6.38168163e+01] [ 2.94342734e-01 9.55699061e-01 -1.28827241e-03 9.19669887e+00] [ 4.28573172e-03 2.80282664e-05 9.99990816e-01 7.92011252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:9.21, Z:0.08 [[ 9.55700102e-01 -2.94313791e-01 -4.08737185e-03 6.38432011e+01] [ 2.94310970e-01 9.55708842e-01 -1.28905883e-03 9.20559460e+00] [ 4.28572521e-03 2.89952822e-05 9.99990816e-01 8.04523211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.87, Y:9.21, Z:0.08 [[ 9.55638320e-01 -2.94514342e-01 -4.08711229e-03 6.38684485e+01] [ 2.94511519e-01 9.55647059e-01 -1.28988126e-03 9.21407968e+00] [ 4.28572537e-03 2.89583113e-05 9.99990816e-01 7.96114327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:9.22, Z:0.08 [[ 9.55350175e-01 -2.95447692e-01 -4.08699942e-03 6.38937778e+01] [ 2.95444876e-01 9.55358917e-01 -1.29023880e-03 9.22320261e+00] [ 4.28574942e-03 2.51468232e-05 9.99990816e-01 7.89633391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:9.23, Z:0.08 [[ 9.55000373e-01 -2.96576441e-01 -4.08689289e-03 6.39198768e+01] [ 2.96573634e-01 9.55009117e-01 -1.29057613e-03 9.23222089e+00] [ 4.28577445e-03 2.04360116e-05 9.99990816e-01 8.01369787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.95, Y:9.24, Z:0.08 [[ 9.54223967e-01 -2.99065078e-01 -4.08664408e-03 6.39461761e+01] [ 2.99062290e-01 9.54232717e-01 -1.29136353e-03 9.23979378e+00] [ 4.28581122e-03 1.00888918e-05 9.99990816e-01 7.82028136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:9.25, Z:0.08 [[ 9.53879911e-01 -3.00160649e-01 -4.08653580e-03 6.39727396e+01] [ 3.00157869e-01 9.53888665e-01 -1.29170611e-03 9.24792278e+00] [ 4.28581952e-03 5.52662856e-06 9.99990816e-01 7.90322487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:9.26, Z:0.08 [[ 9.53623369e-01 -3.00974705e-01 -4.08628002e-03 6.39988031e+01] [ 3.00971930e-01 9.53632123e-01 -1.29251473e-03 9.25625940e+00] [ 4.28582214e-03 2.71667017e-06 9.99990816e-01 7.74919784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:9.26, Z:0.08 [[ 9.53423508e-01 -3.01607225e-01 -4.08616921e-03 6.40258546e+01] [ 3.01604454e-01 9.53432264e-01 -1.29286497e-03 9.26446899e+00] [ 4.28582297e-03 2.41019223e-07 9.99990816e-01 7.58974662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.05, Y:9.27, Z:0.08 [[ 9.53364100e-01 -3.01794958e-01 -4.08609227e-03 6.40519444e+01] [ 3.01792187e-01 9.53372857e-01 -1.29310808e-03 9.27253921e+00] [ 4.28582296e-03 -3.47906192e-07 9.99990816e-01 7.54675314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.08, Y:9.28, Z:0.08 [[ 9.53327310e-01 -3.01911153e-01 -4.08598550e-03 6.40786623e+01] [ 3.01908382e-01 9.53336066e-01 -1.29344536e-03 9.28090651e+00] [ 4.28582293e-03 -5.16487974e-07 9.99990816e-01 7.57090202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.11, Y:9.29, Z:0.08 [[ 9.53183443e-01 -3.02365061e-01 -4.08574002e-03 6.41051983e+01] [ 3.02362291e-01 9.53192200e-01 -1.29422033e-03 9.28949548e+00] [ 4.28582253e-03 -1.74432170e-06 9.99990816e-01 7.62367574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.13, Y:9.30, Z:0.08 [[ 9.52771484e-01 -3.03660679e-01 -4.08548831e-03 6.41325173e+01] [ 3.03657918e-01 9.52780243e-01 -1.29501441e-03 9.29747068e+00] [ 4.28581750e-03 -6.73807399e-06 9.99990816e-01 8.10740614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.398623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:64.16, Y:9.31, Z:0.08 [[ 9.52418993e-01 -3.04764455e-01 -4.08523515e-03 6.41587474e+01] [ 3.04761701e-01 9.52427754e-01 -1.29581255e-03 9.30514226e+00] [ 4.28580894e-03 -1.08667284e-05 9.99990816e-01 8.43611723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.19, Y:9.31, Z:0.08 [[ 9.52052312e-01 -3.05908004e-01 -4.08512495e-03 6.41854811e+01] [ 3.05905259e-01 9.52061076e-01 -1.29615987e-03 9.31345895e+00] [ 4.28579413e-03 -1.56492018e-05 9.99990816e-01 8.35834111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.21, Y:9.32, Z:0.08 [[ 9.51693093e-01 -3.07023729e-01 -4.08487274e-03 6.42120676e+01] [ 3.07020990e-01 9.51701860e-01 -1.29695423e-03 9.32156537e+00] [ 4.28577670e-03 -1.98392845e-05 9.99990816e-01 7.82921751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:9.33, Z:0.08 [[ 9.50943724e-01 -3.09336953e-01 -4.08462088e-03 6.42384301e+01] [ 3.09334232e-01 9.50952496e-01 -1.29774694e-03 9.32784507e+00] [ 4.28572150e-03 -2.94287535e-05 9.99990816e-01 7.76072932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.27, Y:9.34, Z:0.08 [[ 9.50517563e-01 -3.10643975e-01 -4.08451136e-03 6.42659376e+01] [ 3.10641265e-01 9.50526338e-01 -1.29809156e-03 9.33500813e+00] [ 4.28567995e-03 -3.49589541e-05 9.99990816e-01 7.83195860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.29, Y:9.34, Z:0.08 [[ 9.50148483e-01 -3.11771035e-01 -4.08426334e-03 6.42930693e+01] [ 3.11768332e-01 9.50157261e-01 -1.29887145e-03 9.34121765e+00] [ 4.28564296e-03 -3.92232308e-05 9.99990816e-01 7.96813402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:9.35, Z:0.08 [[ 9.50096766e-01 -3.11928604e-01 -4.08418642e-03 6.43198287e+01] [ 3.11925902e-01 9.50105544e-01 -1.29911326e-03 9.34852853e+00] [ 4.28563875e-03 -3.96802239e-05 9.99990816e-01 8.02695628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.35, Y:9.36, Z:0.08 [[ 9.50008555e-01 -3.12197158e-01 -4.08410991e-03 6.43470186e+01] [ 3.12194456e-01 9.50017333e-01 -1.29935376e-03 9.35612800e+00] [ 4.28562975e-03 -4.06392825e-05 9.99990816e-01 8.07788768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.37, Y:9.36, Z:0.08 [[ 9.50122313e-01 -3.11850786e-01 -4.08386516e-03 6.43746119e+01] [ 3.11848078e-01 9.50131089e-01 -1.30012255e-03 9.36256926e+00] [ 4.28565149e-03 -3.82700565e-05 9.99990816e-01 8.18630869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:9.37, Z:0.08 [[ 9.50298108e-01 -3.11314677e-01 -4.08378917e-03 6.44001810e+01] [ 3.11311963e-01 9.50306882e-01 -1.30036118e-03 9.36968419e+00] [ 4.28567448e-03 -3.56016529e-05 9.99990816e-01 8.17227424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.43, Y:9.38, Z:0.08 [[ 9.50446522e-01 -3.10861275e-01 -4.08368371e-03 6.44267712e+01] [ 3.10858555e-01 9.50455294e-01 -1.30069229e-03 9.37689334e+00] [ 4.28569367e-03 -3.32095592e-05 9.99990816e-01 8.14278372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.45, Y:9.38, Z:0.08 [[ 9.51021166e-01 -3.09098798e-01 -4.08344143e-03 6.44531971e+01] [ 3.09096059e-01 9.51029932e-01 -1.30145249e-03 9.38315443e+00] [ 4.28575242e-03 -2.44667875e-05 9.99990816e-01 7.96387719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.758623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:64.48, Y:9.39, Z:0.08 [[ 9.51449131e-01 -3.07778944e-01 -4.08333621e-03 6.44799705e+01] [ 3.07776191e-01 9.51457893e-01 -1.30178251e-03 9.39129287e+00] [ 4.28578372e-03 -1.81738299e-05 9.99990816e-01 8.45579175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:9.40, Z:0.08 [[ 9.52016571e-01 -3.06019242e-01 -4.08309646e-03 6.45056017e+01] [ 3.06016470e-01 9.52025327e-01 -1.30253409e-03 9.39913680e+00] [ 4.28581173e-03 -9.46072784e-06 9.99990816e-01 7.81765651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.818623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.53, Y:9.41, Z:0.08 [[ 9.52560438e-01 -3.04322102e-01 -4.08299220e-03 6.45326762e+01] [ 3.04319313e-01 9.52569188e-01 -1.30286082e-03 9.40709478e+00] [ 4.28582191e-03 -1.47970954e-06 9.99990816e-01 8.26445007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:9.42, Z:0.08 [[ 9.54043908e-01 -2.99639038e-01 -4.08275499e-03 6.45584710e+01] [ 2.99636203e-01 9.54052643e-01 -1.30360372e-03 9.41505846e+00] [ 4.28577376e-03 2.03539888e-05 9.99990816e-01 7.78503895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.59, Y:9.42, Z:0.08 [[ 9.54822417e-01 -2.97148926e-01 -4.08259352e-03 6.45852288e+01] [ 2.97146066e-01 9.54831145e-01 -1.30410921e-03 9.42400196e+00] [ 4.28570210e-03 3.20661033e-05 9.99990816e-01 7.77702524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.61, Y:9.43, Z:0.08 [[ 9.55676724e-01 -2.94389764e-01 -4.08235931e-03 6.46122489e+01] [ 2.94386876e-01 9.55685442e-01 -1.30484197e-03 9.43276947e+00] [ 4.28558348e-03 4.52140962e-05 9.99990816e-01 7.88023718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:9.44, Z:0.08 [[ 9.57265248e-01 -2.89182608e-01 -4.08211477e-03 6.46383305e+01] [ 2.89179669e-01 9.57273950e-01 -1.30560656e-03 9.44385315e+00] [ 4.28526084e-03 6.93471899e-05 9.99990816e-01 7.98372376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:64.66, Y:9.45, Z:0.09 [[ 9.57976956e-01 -2.86816126e-01 -4.08186394e-03 6.46629015e+01] [ 2.86813162e-01 9.57985649e-01 -1.30639028e-03 9.45421586e+00] [ 4.28506088e-03 8.07594829e-05 9.99990816e-01 8.50895018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.69, Y:9.47, Z:0.08 [[ 9.58545477e-01 -2.84910352e-01 -4.08175519e-03 6.46886902e+01] [ 2.84907369e-01 9.58554163e-01 -1.30672997e-03 9.46516514e+00] [ 4.28488433e-03 8.96379700e-05 9.99990816e-01 7.90065397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:9.48, Z:0.08 [[ 9.59331699e-01 -2.82251719e-01 -4.08150088e-03 6.47138572e+01] [ 2.82248709e-01 9.59340376e-01 -1.30752382e-03 9.47661386e+00] [ 4.28459943e-03 1.02350689e-04 9.99990816e-01 7.81591790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:9.49, Z:0.08 [[ 9.59459650e-01 -2.81816469e-01 -4.08139075e-03 6.47390875e+01] [ 2.81813453e-01 9.59468325e-01 -1.30786751e-03 9.48637766e+00] [ 4.28454375e-03 1.04655283e-04 9.99990816e-01 7.78644996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.77, Y:9.50, Z:0.08 [[ 9.59406258e-01 -2.81998182e-01 -4.08128194e-03 6.47661705e+01] [ 2.81995167e-01 9.59414933e-01 -1.30820695e-03 9.49525048e+00] [ 4.28455482e-03 1.04200148e-04 9.99990816e-01 7.79866110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:9.51, Z:0.08 [[ 9.59217039e-01 -2.82641145e-01 -4.08103403e-03 6.47928938e+01] [ 2.82638132e-01 9.59225715e-01 -1.30897988e-03 9.50749840e+00] [ 4.28460436e-03 1.02139970e-04 9.99990816e-01 8.01420544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.82, Y:9.52, Z:0.08 [[ 9.58890981e-01 -2.83745366e-01 -4.08081695e-03 6.48192953e+01] [ 2.83742361e-01 9.58899660e-01 -1.30965630e-03 9.51829707e+00] [ 4.28470289e-03 9.79169763e-05 9.99990816e-01 8.16288957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:9.53, Z:0.08 [[ 9.58451360e-01 -2.85226822e-01 -4.08056875e-03 6.48439599e+01] [ 2.85223827e-01 9.58460042e-01 -1.31042914e-03 9.52879203e+00] [ 4.28483164e-03 9.21071568e-05 9.99990816e-01 8.28462943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.87, Y:9.54, Z:0.08 [[ 9.57920247e-01 -2.87005490e-01 -4.08039984e-03 6.48697074e+01] [ 2.87002508e-01 9.57928934e-01 -1.31095491e-03 9.53917925e+00] [ 4.28498432e-03 8.47052597e-05 9.99990816e-01 8.24633191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:9.55, Z:0.08 [[ 9.56551793e-01 -2.91533907e-01 -4.08015511e-03 6.48946860e+01] [ 2.91530963e-01 9.56560493e-01 -1.31171615e-03 9.55084252e+00] [ 4.28532491e-03 6.52328916e-05 9.99990816e-01 8.06290204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.92, Y:9.56, Z:0.08 [[ 9.55705877e-01 -2.94295141e-01 -4.07998766e-03 6.49206986e+01] [ 2.94292220e-01 9.55714584e-01 -1.31223678e-03 9.56002371e+00] [ 4.28548862e-03 5.34037779e-05 9.99990816e-01 8.00782300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.95, Y:9.57, Z:0.08 [[ 9.54778744e-01 -2.97289264e-01 -4.07974296e-03 6.49465096e+01] [ 2.97286367e-01 9.54787459e-01 -1.31299710e-03 9.56881376e+00] [ 4.28562736e-03 4.07697543e-05 9.99990816e-01 8.20816446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:9.58, Z:0.08 [[ 9.53753206e-01 -3.00563103e-01 -4.07963657e-03 6.49728398e+01] [ 3.00560235e-01 9.53761931e-01 -1.31332758e-03 9.57824499e+00] [ 4.28573987e-03 2.64138660e-05 9.99990816e-01 7.92882103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:9.59, Z:0.08 [[ 9.51772337e-01 -3.06778059e-01 -4.07938618e-03 6.49976995e+01] [ 3.06775245e-01 9.51781079e-01 -1.31410487e-03 9.58857661e+00] [ 4.28582112e-03 -7.26034043e-07 9.99990816e-01 7.75202750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.02, Y:9.60, Z:0.08 [[ 9.50721695e-01 -3.10018739e-01 -4.07921554e-03 6.50237042e+01] [ 3.10015952e-01 9.50730446e-01 -1.31463435e-03 9.59844245e+00] [ 4.28579570e-03 -1.47704906e-05 9.99990816e-01 7.74442538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:9.61, Z:0.08 [[ 9.48869656e-01 -3.15641788e-01 -4.07897004e-03 6.50502823e+01] [ 3.15639049e-01 9.48878422e-01 -1.31539563e-03 9.60826310e+00] [ 4.28564049e-03 -3.93432282e-05 9.99990816e-01 7.98189727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:9.62, Z:0.08 [[ 9.47982445e-01 -3.18296478e-01 -4.07870705e-03 6.50768408e+01] [ 3.18293760e-01 9.47991218e-01 -1.31621060e-03 9.61742381e+00] [ 4.28552366e-03 -5.04824596e-05 9.99990816e-01 8.06835785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.10, Y:9.63, Z:0.08 [[ 9.47194873e-01 -3.20632558e-01 -4.07862562e-03 6.51023044e+01] [ 3.20629861e-01 9.47203652e-01 -1.31646290e-03 9.62583890e+00] [ 4.28538995e-03 -6.07822591e-05 9.99990816e-01 8.08758499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:9.63, Z:0.08 [[ 9.46410569e-01 -3.22940245e-01 -4.07851418e-03 6.51291133e+01] [ 3.22937568e-01 9.46419354e-01 -1.31680806e-03 9.63460184e+00] [ 4.28523507e-03 -7.08643871e-05 9.99990816e-01 8.18655081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:9.64, Z:0.08 [[ 9.45290494e-01 -3.26204308e-01 -4.07825903e-03 6.51544633e+01] [ 3.26201658e-01 9.45299287e-01 -1.31759780e-03 9.64348515e+00] [ 4.28498143e-03 -8.48221837e-05 9.99990816e-01 7.95283463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:65.18, Y:9.65, Z:0.09 [[ 9.44815976e-01 -3.27576158e-01 -4.07814804e-03 6.51807101e+01] [ 3.27573520e-01 9.44824773e-01 -1.31794122e-03 9.65302269e+00] [ 4.28486142e-03 -9.06813910e-05 9.99990816e-01 8.63812391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:9.66, Z:0.08 [[ 9.44431315e-01 -3.28683530e-01 -4.07790324e-03 6.52067427e+01] [ 3.28680898e-01 9.44440114e-01 -1.31869825e-03 9.66210090e+00] [ 4.28476979e-03 -9.49089805e-05 9.99990816e-01 8.05835761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.23, Y:9.67, Z:0.08 [[ 9.44106055e-01 -3.29616640e-01 -4.07764807e-03 6.52325658e+01] [ 3.29614014e-01 9.44114856e-01 -1.31948681e-03 9.67074734e+00] [ 4.28469293e-03 -9.83144569e-05 9.99990816e-01 7.97789844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.26, Y:9.68, Z:0.08 [[ 9.43584367e-01 -3.31107106e-01 -4.07753753e-03 6.52592702e+01] [ 3.31104493e-01 9.43593171e-01 -1.31982832e-03 9.67799150e+00] [ 4.28454110e-03 -1.04721623e-04 9.99990816e-01 7.87888899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:9.69, Z:0.08 [[ 9.43352576e-01 -3.31766927e-01 -4.07729241e-03 6.52862772e+01] [ 3.31764316e-01 9.43361381e-01 -1.32058511e-03 9.68588262e+00] [ 4.28448666e-03 -1.06922759e-04 9.99990816e-01 7.86574258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.31, Y:9.69, Z:0.08 [[ 9.42979966e-01 -3.32824521e-01 -4.07704610e-03 6.53129984e+01] [ 3.32821916e-01 9.42988773e-01 -1.32134510e-03 9.69290801e+00] [ 4.28438475e-03 -1.10928334e-04 9.99990816e-01 8.07861662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:9.70, Z:0.08 [[ 9.42881722e-01 -3.33102744e-01 -4.07679037e-03 6.53393146e+01] [ 3.33100139e-01 9.42890529e-01 -1.32213364e-03 9.70043686e+00] [ 4.28437338e-03 -1.11363798e-04 9.99990816e-01 8.13624660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.778623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:65.36, Y:9.71, Z:0.09 [[ 9.42900118e-01 -3.33050668e-01 -4.07671103e-03 6.53648086e+01] [ 3.33048061e-01 9.42908925e-01 -1.32237826e-03 9.70783755e+00] [ 4.28438617e-03 -1.10870088e-04 9.99990816e-01 8.90182113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:9.72, Z:0.08 [[ 9.43183857e-01 -3.32246285e-01 -4.07660224e-03 6.53912805e+01] [ 3.32243669e-01 9.43192660e-01 -1.32271354e-03 9.71510579e+00] [ 4.28448797e-03 -1.06863232e-04 9.99990816e-01 8.19306222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:9.72, Z:0.08 [[ 9.43429849e-01 -3.31547134e-01 -4.07649591e-03 6.54180499e+01] [ 3.31544511e-01 9.43438650e-01 -1.32304116e-03 9.72235394e+00] [ 4.28457430e-03 -1.03343320e-04 9.99990816e-01 8.17725261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:9.73, Z:0.08 [[ 9.43744290e-01 -3.30651023e-01 -4.07625431e-03 6.54451963e+01] [ 3.30648387e-01 9.43753088e-01 -1.32378511e-03 9.72952987e+00] [ 4.28468849e-03 -9.84922743e-05 9.99990816e-01 8.31159201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:9.74, Z:0.08 [[ 9.44733626e-01 -3.27813608e-01 -4.07600031e-03 6.54710129e+01] [ 3.27810943e-01 9.44742415e-01 -1.32456673e-03 9.73631347e+00] [ 4.28498137e-03 -8.47947731e-05 9.99990816e-01 8.26719293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:9.74, Z:0.08 [[ 9.45139286e-01 -3.26642187e-01 -4.07574700e-03 6.54982031e+01] [ 3.26639508e-01 9.45148071e-01 -1.32534571e-03 9.74392038e+00] [ 4.28509823e-03 -7.86636971e-05 9.99990816e-01 8.32552324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.958623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:65.53, Y:9.75, Z:0.09 [[ 9.45539740e-01 -3.25481168e-01 -4.07550679e-03 6.55252057e+01] [ 3.25478474e-01 9.45548520e-01 -1.32608397e-03 9.75112613e+00] [ 4.28520477e-03 -7.26246395e-05 9.99990816e-01 9.15841295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.55, Y:9.76, Z:0.09 [[ 9.46245103e-01 -3.23424793e-01 -4.07525774e-03 6.55538933e+01] [ 3.23422078e-01 9.46253877e-01 -1.32684889e-03 9.75756356e+00] [ 4.28536426e-03 -6.25040572e-05 9.99990816e-01 8.63139967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:65.58, Y:9.77, Z:0.09 [[ 9.46511480e-01 -3.22644406e-01 -4.07503865e-03 6.55808231e+01] [ 3.22641681e-01 9.46520250e-01 -1.32752141e-03 9.76549659e+00] [ 4.28542396e-03 -5.82630667e-05 9.99990816e-01 8.65947662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:65.61, Y:9.77, Z:0.09 [[ 9.46775933e-01 -3.21867563e-01 -4.07478960e-03 6.56076434e+01] [ 3.21864827e-01 9.46784700e-01 -1.32828543e-03 9.77253334e+00] [ 4.28548044e-03 -5.39427678e-05 9.99990816e-01 8.62034032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:65.63, Y:9.78, Z:0.09 [[ 9.47000917e-01 -3.21205014e-01 -4.07453977e-03 6.56348273e+01] [ 3.21202268e-01 9.47009681e-01 -1.32905134e-03 9.77899508e+00] [ 4.28552656e-03 -5.01385738e-05 9.99990816e-01 8.53500187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:65.66, Y:9.78, Z:0.08 [[ 9.47528966e-01 -3.19643958e-01 -4.07428980e-03 6.56623561e+01] [ 3.19641194e-01 9.47537724e-01 -1.32981721e-03 9.78329269e+00] [ 4.28561132e-03 -4.22705334e-05 9.99990816e-01 8.21119218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.138623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:65.69, Y:9.79, Z:0.08 [[ 9.47717819e-01 -3.19083588e-01 -4.07417223e-03 6.56898968e+01] [ 3.19080817e-01 9.47726576e-01 -1.33017729e-03 9.79067637e+00] [ 4.28563904e-03 -3.93574829e-05 9.99990816e-01 8.21594402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:65.72, Y:9.80, Z:0.08 [[ 9.47893759e-01 -3.18560551e-01 -4.07392424e-03 6.57171255e+01] [ 3.18557772e-01 9.47902513e-01 -1.33093640e-03 9.79763807e+00] [ 4.28566685e-03 -3.61939227e-05 9.99990816e-01 8.10439095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.198623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:65.74, Y:9.80, Z:0.08 [[ 9.48092841e-01 -3.17967563e-01 -4.07367517e-03 6.57446661e+01] [ 3.17964776e-01 9.48101592e-01 -1.33169829e-03 9.80469324e+00] [ 4.28569477e-03 -3.27115929e-05 9.99990816e-01 8.09134710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:65.77, Y:9.81, Z:0.08 [[ 9.48840644e-01 -3.15729060e-01 -4.07342711e-03 6.57705592e+01] [ 3.15726249e-01 9.48849388e-01 -1.33245663e-03 9.81079348e+00] [ 4.28576410e-03 -2.17988532e-05 9.99990816e-01 8.10970803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.258623853 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:65.80, Y:9.82, Z:0.08 [[ 9.49221382e-01 -3.14582542e-01 -4.07331936e-03 6.57968425e+01] [ 3.14579719e-01 9.49230122e-01 -1.33278593e-03 9.81885437e+00] [ 4.28578862e-03 -1.62747558e-05 9.99990816e-01 8.10839542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288623853 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:65.82, Y:9.83, Z:0.08 [[ 9.50185448e-01 -3.11658505e-01 -4.07315285e-03 6.58235292e+01] [ 3.11655653e-01 9.50194178e-01 -1.33329462e-03 9.82572280e+00] [ 4.28581873e-03 -2.54396437e-06 9.99990816e-01 8.33136079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.318623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:65.85, Y:9.83, Z:0.08 [[ 9.50706036e-01 -3.10066837e-01 -4.07307729e-03 6.58505477e+01] [ 3.10063969e-01 9.50714761e-01 -1.33352541e-03 9.83366531e+00] [ 4.28581671e-03 4.87614970e-06 9.99990816e-01 8.44196648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:65.88, Y:9.84, Z:0.08 [[ 9.51157348e-01 -3.08679624e-01 -4.07282995e-03 6.58777658e+01] [ 3.08676741e-01 9.51166068e-01 -1.33428041e-03 9.84210650e+00] [ 4.28580282e-03 1.19227418e-05 9.99990816e-01 8.49683563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37862385300001 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:65.90, Y:9.85, Z:0.09 [[ 9.52056862e-01 -3.05894012e-01 -4.07257908e-03 6.59034002e+01] [ 3.05891100e-01 9.52065572e-01 -1.33504570e-03 9.84993790e+00] [ 4.28574481e-03 2.52737267e-05 9.99990816e-01 8.50649303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40862385300001 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:65.93, Y:9.86, Z:0.09 [[ 9.52313680e-01 -3.05093542e-01 -4.07247041e-03 6.59298004e+01] [ 3.05090621e-01 9.52322387e-01 -1.33537709e-03 9.85834241e+00] [ 4.28571967e-03 2.92253425e-05 9.99990816e-01 8.60485381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43862385300001 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:65.96, Y:9.87, Z:0.08 [[ 9.52780261e-01 -3.03633318e-01 -4.07221234e-03 6.59566174e+01] [ 3.03630381e-01 9.52788962e-01 -1.33616361e-03 9.86687053e+00] [ 4.28566276e-03 3.66229303e-05 9.99990816e-01 8.49120338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46862385300001 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:65.98, Y:9.88, Z:0.08 [[ 9.52832004e-01 -3.03470906e-01 -4.07195612e-03 6.59829487e+01] [ 3.03467963e-01 9.52840704e-01 -1.33694400e-03 9.87603627e+00] [ 4.28564914e-03 3.81748050e-05 9.99990816e-01 8.49790194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49862385300001 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:66.01, Y:9.89, Z:0.08 [[ 9.52778136e-01 -3.03639993e-01 -4.07169983e-03 6.60085032e+01] [ 3.03637049e-01 9.52786835e-01 -1.33772408e-03 9.88515199e+00] [ 4.28564852e-03 3.82353379e-05 9.99990816e-01 8.45716360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:66.04, Y:9.89, Z:0.08 [[ 9.52628401e-01 -3.04109440e-01 -4.07152512e-03 6.60350329e+01] [ 3.04106498e-01 9.52637101e-01 -1.33825562e-03 9.89421880e+00] [ 4.28566205e-03 3.66830676e-05 9.99990816e-01 8.47388141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.558623853 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:66.06, Y:9.90, Z:0.08 [[ 9.52367268e-01 -3.04926240e-01 -4.07127197e-03 6.60602553e+01] [ 3.04923302e-01 9.52375969e-01 -1.33902531e-03 9.90253853e+00] [ 4.28568554e-03 3.38181870e-05 9.99990816e-01 8.46732688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:66.09, Y:9.91, Z:0.08 [[ 9.51731277e-01 -3.06905528e-01 -4.07116201e-03 6.60863677e+01] [ 3.06902606e-01 9.51739984e-01 -1.33935955e-03 9.91135473e+00] [ 4.28574451e-03 2.52601394e-05 9.99990816e-01 8.48527612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.618623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:66.11, Y:9.92, Z:0.08 [[ 9.51411910e-01 -3.07894146e-01 -4.07090541e-03 6.61117945e+01] [ 3.07891230e-01 9.51420619e-01 -1.34013902e-03 9.91956494e+00] [ 4.28576430e-03 2.16281511e-05 9.99990816e-01 8.43773613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:66.14, Y:9.93, Z:0.09 [[ 9.51054649e-01 -3.08995929e-01 -4.07073009e-03 6.61390276e+01] [ 3.08993021e-01 9.51063361e-01 -1.34067133e-03 9.92792151e+00] [ 4.28578423e-03 1.72245164e-05 9.99990816e-01 8.79792842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.678623853 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:66.16, Y:9.94, Z:0.08 [[ 9.50389738e-01 -3.11035010e-01 -4.07048380e-03 6.61648716e+01] [ 3.11032118e-01 9.50398454e-01 -1.34141869e-03 9.93529345e+00] [ 4.28580969e-03 8.81936407e-06 9.99990816e-01 8.47750402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:66.19, Y:9.94, Z:0.09 [[ 9.50068924e-01 -3.12013578e-01 -4.07036913e-03 6.61907822e+01] [ 3.12010693e-01 9.50077643e-01 -1.34176658e-03 9.94408245e+00] [ 4.28581609e-03 4.77203660e-06 9.99990816e-01 8.53800595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.738623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:66.22, Y:9.95, Z:0.09 [[ 9.49450017e-01 -3.13891856e-01 -4.07028811e-03 6.62158845e+01] [ 3.13888987e-01 9.49458742e-01 -1.34201230e-03 9.95264360e+00] [ 4.28581736e-03 -3.44501021e-06 9.99990816e-01 8.50051487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76862385300001 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:66.24, Y:9.96, Z:0.09 [[ 9.49217820e-01 -3.14593330e-01 -4.07017711e-03 6.62425541e+01] [ 3.14590466e-01 9.49226547e-01 -1.34234886e-03 9.96074276e+00] [ 4.28581416e-03 -6.25745115e-06 9.99990816e-01 8.54263541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79862385300001 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:66.27, Y:9.97, Z:0.09 [[ 9.48993253e-01 -3.15270108e-01 -4.06992680e-03 6.62692624e+01] [ 3.15267247e-01 9.49001980e-01 -1.34310735e-03 9.96954097e+00] [ 4.28581020e-03 -8.51480916e-06 9.99990816e-01 8.64937016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82862385300001 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:66.30, Y:9.98, Z:0.09 [[ 9.48703153e-01 -3.16142001e-01 -4.06966776e-03 6.62951788e+01] [ 3.16139145e-01 9.48711882e-01 -1.34389180e-03 9.97769560e+00] [ 4.28580280e-03 -1.16268993e-05 9.99990816e-01 8.72122992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85862385300001 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:66.32, Y:9.99, Z:0.09 [[ 9.48441168e-01 -3.16927104e-01 -4.06955529e-03 6.63205904e+01] [ 3.16924253e-01 9.48449899e-01 -1.34423230e-03 9.98551218e+00] [ 4.28579295e-03 -1.48155139e-05 9.99990816e-01 8.73485838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888623853 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:66.35, Y:9.99, Z:0.09 [[ 9.48095171e-01 -3.17960668e-01 -4.06944450e-03 6.63470394e+01] [ 3.17957826e-01 9.48103904e-01 -1.34456762e-03 9.99364200e+00] [ 4.28577583e-03 -1.91336584e-05 9.99990816e-01 8.82741697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.918623853 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:66.37, Y:10.00, Z:0.09 [[ 9.47642501e-01 -3.19307268e-01 -4.06936673e-03 6.63741087e+01] [ 3.19304437e-01 9.47651238e-01 -1.34480295e-03 1.00021925e+01] [ 4.28574577e-03 -2.49744196e-05 9.99990816e-01 9.05317764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:66.40, Y:10.01, Z:0.09 [[ 9.46552779e-01 -3.22523300e-01 -4.06909811e-03 6.64003380e+01] [ 3.22520496e-01 9.46561524e-01 -1.34561523e-03 1.00085198e+01] [ 4.28564398e-03 -3.86717086e-05 9.99990816e-01 8.96355854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.978623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:66.43, Y:10.02, Z:0.09 [[ 9.46489129e-01 -3.22710044e-01 -4.06898151e-03 6.64273427e+01] [ 3.22707240e-01 9.46497874e-01 -1.34596772e-03 1.00176474e+01] [ 4.28563966e-03 -3.91459799e-05 9.99990816e-01 8.97577112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.008623853 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:66.45, Y:10.02, Z:0.10 [[ 9.45882140e-01 -3.24484857e-01 -4.06871580e-03 6.64530902e+01] [ 3.24482066e-01 9.45890890e-01 -1.34677046e-03 1.00244490e+01] [ 4.28556783e-03 -4.63391874e-05 9.99990816e-01 9.58960023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.038623853 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:66.48, Y:10.03, Z:0.09 [[ 9.45222442e-01 -3.26401567e-01 -4.06853484e-03 6.64802974e+01] [ 3.26398790e-01 9.45231196e-01 -1.34731692e-03 1.00314623e+01] [ 4.28547241e-03 -5.44506631e-05 9.99990816e-01 9.45060374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068623853 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:66.51, Y:10.04, Z:0.09 [[ 9.44199493e-01 -3.29349005e-01 -4.06827150e-03 6.65082059e+01] [ 3.29346252e-01 9.44208255e-01 -1.34811161e-03 1.00367021e+01] [ 4.28529475e-03 -6.69836753e-05 9.99990816e-01 8.61737169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.098623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:66.54, Y:10.04, Z:0.08 [[ 9.43991018e-01 -3.29946069e-01 -4.06818979e-03 6.65352276e+01] [ 3.29943322e-01 9.43999781e-01 -1.34835813e-03 1.00436863e+01] [ 4.28525574e-03 -6.94340878e-05 9.99990816e-01 8.48210716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12862385300001 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:66.56, Y:10.05, Z:0.09 [[ 9.43962365e-01 -3.30028036e-01 -4.06810990e-03 6.65621955e+01] [ 3.30025288e-01 9.43971128e-01 -1.34859914e-03 1.00507888e+01] [ 4.28525382e-03 -6.95523040e-05 9.99990816e-01 8.62630443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15862385300001 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:66.59, Y:10.06, Z:0.09 [[ 9.44750976e-01 -3.27763705e-01 -4.06784903e-03 6.65891360e+01] [ 3.27760932e-01 9.44759732e-01 -1.34938555e-03 1.00574210e+01] [ 4.28541957e-03 -5.84486809e-05 9.99990816e-01 9.39636066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18862385300001 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:66.62, Y:10.07, Z:0.09 [[ 9.45254472e-01 -3.26308807e-01 -4.06758768e-03 6.66156307e+01] [ 3.26306018e-01 9.45263223e-01 -1.35017289e-03 1.00659238e+01] [ 4.28551435e-03 -5.10213730e-05 9.99990816e-01 8.77096839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21862385300001 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:66.64, Y:10.07, Z:0.09 [[ 9.46893866e-01 -3.21520548e-01 -4.06732618e-03 6.66419322e+01] [ 3.21517711e-01 9.46902601e-01 -1.35096019e-03 1.00724813e+01] [ 4.28572320e-03 -2.85014885e-05 9.99990816e-01 8.77306567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24862385300001 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:66.67, Y:10.08, Z:0.09 [[ 9.47753949e-01 -3.18976346e-01 -4.06721242e-03 6.66680496e+01] [ 3.18973484e-01 9.47762676e-01 -1.35130259e-03 1.00805328e+01] [ 4.28578569e-03 -1.66305475e-05 9.99990816e-01 8.75329597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.278623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:66.70, Y:10.09, Z:0.09 [[ 9.48537065e-01 -3.16640009e-01 -4.06709984e-03 6.66950060e+01] [ 3.16637124e-01 9.48545784e-01 -1.35164135e-03 1.00890119e+01] [ 4.28581414e-03 -5.71288253e-06 9.99990816e-01 8.79668491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308623853 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:66.72, Y:10.10, Z:0.09 [[ 9.50124146e-01 -3.11845423e-01 -4.06684479e-03 6.67219202e+01] [ 3.11842491e-01 9.50132850e-01 -1.35240831e-03 1.00963551e+01] [ 4.28578517e-03 1.67407812e-05 9.99990816e-01 9.00501253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.338623853 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:66.75, Y:10.10, Z:0.09 [[ 9.50752222e-01 -3.09925272e-01 -4.06676585e-03 6.67477556e+01] [ 3.09922321e-01 9.50760919e-01 -1.35264565e-03 1.01048341e+01] [ 4.28574111e-03 2.56493481e-05 9.99990816e-01 9.09383864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.368623853 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:66.77, Y:10.11, Z:0.09 [[ 9.51293857e-01 -3.08258757e-01 -4.06659578e-03 6.67745726e+01] [ 3.08255788e-01 9.51302548e-01 -1.35315675e-03 1.01142960e+01] [ 4.28568535e-03 3.36980117e-05 9.99990816e-01 9.21441454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.398623853 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:66.80, Y:10.12, Z:0.09 [[ 9.51889476e-01 -3.06414574e-01 -4.06634246e-03 6.68005322e+01] [ 3.06411586e-01 9.51898160e-01 -1.35391758e-03 1.01240211e+01] [ 4.28560398e-03 4.28054502e-05 9.99990816e-01 9.25336475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:66.83, Y:10.13, Z:0.09 [[ 9.52974961e-01 -3.03021765e-01 -4.06607779e-03 6.68259282e+01] [ 3.03018742e-01 9.52983634e-01 -1.35471197e-03 1.01338504e+01] [ 4.28541280e-03 5.89088132e-05 9.99990816e-01 9.11137464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.458623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:66.85, Y:10.14, Z:0.09 [[ 9.53305987e-01 -3.01978747e-01 -4.06589698e-03 6.68520871e+01] [ 3.01975712e-01 9.53314656e-01 -1.35525440e-03 1.01431564e+01] [ 4.28533721e-03 6.41699992e-05 9.99990816e-01 9.16158184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:66.88, Y:10.15, Z:0.09 [[ 9.53745247e-01 -3.00588546e-01 -4.06564399e-03 6.68772118e+01] [ 3.00585496e-01 9.53753910e-01 -1.35601294e-03 1.01517647e+01] [ 4.28522581e-03 7.12172852e-05 9.99990816e-01 9.17000892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51862385300001 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:66.90, Y:10.16, Z:0.09 [[ 9.54248673e-01 -2.98986523e-01 -4.06553381e-03 6.69036478e+01] [ 2.98983457e-01 9.54257331e-01 -1.35634318e-03 1.01621549e+01] [ 4.28509378e-03 7.87613310e-05 9.99990816e-01 9.38196591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54862385300001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:66.93, Y:10.17, Z:0.09 [[ 9.54357714e-01 -2.98638287e-01 -4.06527443e-03 6.69291992e+01] [ 2.98635215e-01 9.54366369e-01 -1.35712016e-03 1.01721417e+01] [ 4.28504924e-03 8.11439928e-05 9.99990816e-01 9.48427871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57862385300001 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:66.95, Y:10.18, Z:0.10 [[ 9.54567386e-01 -2.97967414e-01 -4.06509806e-03 6.69538094e+01] [ 2.97964333e-01 9.54576038e-01 -1.35764825e-03 1.01836151e+01] [ 4.28498014e-03 8.47125069e-05 9.99990816e-01 9.54449800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60862385300001 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:66.98, Y:10.19, Z:0.10 [[ 9.54660461e-01 -2.97669078e-01 -4.06498627e-03 6.69790316e+01] [ 2.97665993e-01 9.54669111e-01 -1.35798290e-03 1.01939698e+01] [ 4.28494635e-03 8.64044017e-05 9.99990816e-01 9.59563299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.638623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:67.01, Y:10.20, Z:0.10 [[ 9.54672703e-01 -2.97629814e-01 -4.06487604e-03 6.70053081e+01] [ 2.97626727e-01 9.54681353e-01 -1.35831277e-03 1.02048497e+01] [ 4.28493574e-03 8.69283712e-05 9.99990816e-01 9.64693677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:67.03, Y:10.22, Z:0.09 [[ 9.54651145e-01 -2.97698959e-01 -4.06461316e-03 6.70303411e+01] [ 2.97695869e-01 9.54659794e-01 -1.35909895e-03 1.02169763e+01] [ 4.28492511e-03 8.74468169e-05 9.99990816e-01 9.40095864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.698623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:67.06, Y:10.23, Z:0.09 [[ 9.54498907e-01 -2.98186713e-01 -4.06453155e-03 6.70564548e+01] [ 2.98183627e-01 9.54507557e-01 -1.35934297e-03 1.02280874e+01] [ 4.28496409e-03 8.55146233e-05 9.99990816e-01 9.40894043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:67.08, Y:10.24, Z:0.09 [[ 9.54173886e-01 -2.99225128e-01 -4.06427168e-03 6.70819978e+01] [ 2.99222048e-01 9.54182538e-01 -1.36011950e-03 1.02391852e+01] [ 4.28503900e-03 8.16708106e-05 9.99990816e-01 9.32709192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.758623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:67.11, Y:10.25, Z:0.09 [[ 9.53881398e-01 -3.00156230e-01 -4.06402927e-03 6.71079062e+01] [ 3.00153155e-01 9.53890052e-01 -1.36084345e-03 1.02494003e+01] [ 4.28510273e-03 7.82520468e-05 9.99990816e-01 9.18985004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788623853 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:67.13, Y:10.26, Z:0.09 [[ 9.53052934e-01 -3.02776469e-01 -4.06394854e-03 6.71327703e+01] [ 3.02773417e-01 9.53061596e-01 -1.36108450e-03 1.02615644e+01] [ 4.28529764e-03 6.67299918e-05 9.99990816e-01 9.10484739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.818623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:67.16, Y:10.27, Z:0.09 [[ 9.52466100e-01 -3.04617490e-01 -4.06377323e-03 6.71591001e+01] [ 3.04614452e-01 9.52474767e-01 -1.36160770e-03 1.02722550e+01] [ 4.28541098e-03 5.90011133e-05 9.99990816e-01 9.18512701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:67.18, Y:10.28, Z:0.09 [[ 9.51933637e-01 -3.06277389e-01 -4.06351637e-03 6.71842769e+01] [ 3.06274363e-01 9.51942308e-01 -1.36237385e-03 1.02821701e+01] [ 4.28549746e-03 5.23386054e-05 9.99990816e-01 9.16638200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87862385300001 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:67.21, Y:10.29, Z:0.10 [[ 9.50823667e-01 -3.09706060e-01 -4.06340465e-03 6.72102356e+01] [ 3.09703064e-01 9.50832349e-01 -1.36270696e-03 1.02939577e+01] [ 4.28565519e-03 3.72451555e-05 9.99990816e-01 9.50017909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90862385300001 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:67.24, Y:10.30, Z:0.10 [[ 9.50256315e-01 -3.11442493e-01 -4.06314987e-03 6.72364462e+01] [ 3.11439510e-01 9.50265001e-01 -1.36346621e-03 1.03043968e+01] [ 4.28571044e-03 3.02169716e-05 9.99990816e-01 9.76009583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93862385300001 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:67.26, Y:10.31, Z:0.09 [[ 9.49244573e-01 -3.14512694e-01 -4.06289366e-03 6.72622023e+01] [ 3.14509735e-01 9.49253267e-01 -1.36422925e-03 1.03146504e+01] [ 4.28578250e-03 1.71675955e-05 9.99990816e-01 9.05860149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96862385300001 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:67.29, Y:10.32, Z:0.09 [[ 9.48773920e-01 -3.15929649e-01 -4.06281391e-03 6.72880711e+01] [ 3.15926702e-01 9.48782618e-01 -1.36446672e-03 1.03242131e+01] [ 4.28580271e-03 1.10190333e-05 9.99990816e-01 9.12245762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99862385300001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:67.31, Y:10.34, Z:0.09 [[ 9.48015300e-01 -3.18198817e-01 -4.06255903e-03 6.73133305e+01] [ 3.18195889e-01 9.48024004e-01 -1.36522518e-03 1.03354342e+01] [ 4.28581652e-03 1.56477475e-06 9.99990816e-01 9.22129608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:67.34, Y:10.35, Z:0.09 [[ 9.47685107e-01 -3.19180882e-01 -4.06243892e-03 6.73391081e+01] [ 3.19177961e-01 9.47693814e-01 -1.36558248e-03 1.03452711e+01] [ 4.28581606e-03 -2.49879456e-06 9.99990816e-01 9.36293644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.058623853 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:67.36, Y:10.36, Z:0.10 [[ 9.47344170e-01 -3.20191384e-01 -4.06218143e-03 6.73649576e+01] [ 3.20188469e-01 9.47352879e-01 -1.36634800e-03 1.03550347e+01] [ 4.28581213e-03 -6.26183960e-06 9.99990816e-01 9.50529880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:67.39, Y:10.36, Z:0.10 [[ 9.47094645e-01 -3.20928706e-01 -4.06191308e-03 6.73908334e+01] [ 3.20925794e-01 9.47103355e-01 -1.36714530e-03 1.03644336e+01] [ 4.28580768e-03 -8.75668605e-06 9.99990816e-01 9.51750795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.118623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:67.42, Y:10.37, Z:0.10 [[ 9.46828549e-01 -3.21712916e-01 -4.06182991e-03 6.74172323e+01] [ 3.21710010e-01 9.46837261e-01 -1.36739236e-03 1.03741630e+01] [ 4.28579969e-03 -1.20452201e-05 9.99990816e-01 9.60321506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:67.44, Y:10.38, Z:0.10 [[ 9.46550502e-01 -3.22530078e-01 -4.06157115e-03 6.74435010e+01] [ 3.22527177e-01 9.46559215e-01 -1.36816053e-03 1.03839356e+01] [ 4.28579052e-03 -1.49340409e-05 9.99990816e-01 9.82887899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.178623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:67.47, Y:10.39, Z:0.10 [[ 9.46503295e-01 -3.22668589e-01 -4.06131201e-03 6.74697705e+01] [ 3.22665685e-01 9.46512008e-01 -1.36892935e-03 1.03936881e+01] [ 4.28579108e-03 -1.47498841e-05 9.99990816e-01 9.88056478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208623853 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:67.49, Y:10.40, Z:0.10 [[ 9.46600454e-01 -3.22383448e-01 -4.06105111e-03 6.74949737e+01] [ 3.22380539e-01 9.46609165e-01 -1.36970288e-03 1.04033372e+01] [ 4.28579774e-03 -1.26424761e-05 9.99990816e-01 1.00303709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.238623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:67.52, Y:10.41, Z:0.09 [[ 9.46898894e-01 -3.21505821e-01 -4.06093751e-03 6.75201362e+01] [ 3.21502902e-01 9.46907602e-01 -1.37003961e-03 1.04148070e+01] [ 4.28580831e-03 -8.31419970e-06 9.99990816e-01 9.34158159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26862385300001 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:67.55, Y:10.43, Z:0.09 [[ 9.46998369e-01 -3.21212700e-01 -4.06086123e-03 6.75461181e+01] [ 3.21209777e-01 9.47007076e-01 -1.37026566e-03 1.04251092e+01] [ 4.28581105e-03 -6.74898131e-06 9.99990816e-01 9.41129810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29862385300001 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:67.57, Y:10.44, Z:0.09 [[ 9.47466297e-01 -3.19829841e-01 -4.06059332e-03 6.75718689e+01] [ 3.19826902e-01 9.47474998e-01 -1.37105913e-03 1.04356458e+01] [ 4.28581627e-03 3.45330682e-07 9.99990816e-01 9.01246034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32862385300001 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:67.60, Y:10.45, Z:0.09 [[ 9.47645035e-01 -3.19299858e-01 -4.06051056e-03 6.75979680e+01] [ 3.19296913e-01 9.47653735e-01 -1.37130419e-03 1.04458573e+01] [ 4.28581523e-03 3.00112284e-06 9.99990816e-01 9.22865467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35862385300001 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:67.62, Y:10.46, Z:0.09 [[ 9.47862117e-01 -3.18654863e-01 -4.06023985e-03 6.76226921e+01] [ 3.18651909e-01 9.47870813e-01 -1.37210526e-03 1.04557571e+01] [ 4.28581086e-03 6.76341687e-06 9.99990816e-01 9.16020809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:67.65, Y:10.47, Z:0.09 [[ 9.48260895e-01 -3.17466204e-01 -4.06012218e-03 6.76474676e+01] [ 3.17463237e-01 9.48269587e-01 -1.37245336e-03 1.04667197e+01] [ 4.28579794e-03 1.25043220e-05 9.99990816e-01 9.22517346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.418623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:67.67, Y:10.48, Z:0.09 [[ 9.48324753e-01 -3.17275402e-01 -4.05993916e-03 6.76736412e+01] [ 3.17272431e-01 9.48333443e-01 -1.37299454e-03 1.04772522e+01] [ 4.28579347e-03 1.39379371e-05 9.99990816e-01 9.37496380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:67.70, Y:10.49, Z:0.09 [[ 9.48492911e-01 -3.16772344e-01 -4.05966802e-03 6.77000966e+01] [ 3.16769365e-01 9.48501598e-01 -1.37379577e-03 1.04879060e+01] [ 4.28578211e-03 1.70570824e-05 9.99990816e-01 9.44931047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.478623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:67.73, Y:10.50, Z:0.09 [[ 9.48613350e-01 -3.16411494e-01 -4.05939694e-03 6.77254623e+01] [ 3.16408509e-01 9.48622035e-01 -1.37459633e-03 1.04984431e+01] [ 4.28577146e-03 1.95326933e-05 9.99990816e-01 9.39477752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.508623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:67.75, Y:10.51, Z:0.10 [[ 9.48763681e-01 -3.15960441e-01 -4.05927942e-03 6.77521705e+01] [ 3.15957450e-01 9.48772364e-01 -1.37494328e-03 1.05101655e+01] [ 4.28575982e-03 2.19366765e-05 9.99990816e-01 9.62216440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.538623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:67.78, Y:10.52, Z:0.10 [[ 9.48731845e-01 -3.16056024e-01 -4.05904949e-03 6.77769889e+01] [ 3.16053031e-01 9.48740528e-01 -1.37562172e-03 1.05205522e+01] [ 4.28575829e-03 2.22212313e-05 9.99990816e-01 9.54148355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:67.80, Y:10.53, Z:0.10 [[ 9.48638120e-01 -3.16337229e-01 -4.05893489e-03 6.78030640e+01] [ 3.16334237e-01 9.48646803e-01 -1.37595979e-03 1.05313989e+01] [ 4.28576291e-03 2.13078367e-05 9.99990816e-01 9.60811282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.598623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:67.83, Y:10.54, Z:0.10 [[ 9.48344091e-01 -3.17217609e-01 -4.05866878e-03 6.78280241e+01] [ 3.17214622e-01 9.48352776e-01 -1.37674429e-03 1.05430772e+01] [ 4.28577733e-03 1.81582255e-05 9.99990816e-01 1.00634024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:67.85, Y:10.55, Z:0.09 [[ 9.48113514e-01 -3.17906105e-01 -4.05858623e-03 6.78543619e+01] [ 3.17903123e-01 9.48122201e-01 -1.37698759e-03 1.05529977e+01] [ 4.28578847e-03 1.53033083e-05 9.99990816e-01 9.42914408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65862385300001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:67.88, Y:10.56, Z:0.09 [[ 9.47821498e-01 -3.18775686e-01 -4.05832748e-03 6.78803072e+01] [ 3.18772709e-01 9.47830186e-01 -1.37774977e-03 1.05628879e+01] [ 4.28579842e-03 1.21768096e-05 9.99990816e-01 9.39713288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68862385300001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:67.91, Y:10.57, Z:0.09 [[ 9.47161854e-01 -3.20730346e-01 -4.05806774e-03 6.79056575e+01] [ 3.20727383e-01 9.47170547e-01 -1.37851439e-03 1.05738002e+01] [ 4.28581364e-03 4.14279953e-06 9.99990816e-01 9.36346995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71862385300001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:67.93, Y:10.58, Z:0.09 [[ 9.46817558e-01 -3.21745312e-01 -4.05780679e-03 6.79306919e+01] [ 3.21742356e-01 9.46826253e-01 -1.37928211e-03 1.05832483e+01] [ 4.28581555e-03 3.60201992e-07 9.99990816e-01 9.29092259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74862385300001 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:67.96, Y:10.59, Z:0.09 [[ 9.46487645e-01 -3.22714537e-01 -4.05769325e-03 6.79572484e+01] [ 3.22711588e-01 9.46496343e-01 -1.37961604e-03 1.05933970e+01] [ 4.28581398e-03 -3.67509630e-06 9.99990816e-01 9.31993902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.778623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:67.98, Y:10.60, Z:0.09 [[ 9.45893391e-01 -3.24452199e-01 -4.05742942e-03 6.79819937e+01] [ 3.24449263e-01 9.45902093e-01 -1.38039152e-03 1.06043585e+01] [ 4.28580205e-03 -1.07267750e-05 9.99990816e-01 9.36858941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808623853 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:68.01, Y:10.61, Z:0.09 [[ 9.45562387e-01 -3.25415598e-01 -4.05725003e-03 6.80081673e+01] [ 3.25412668e-01 9.45571091e-01 -1.38091858e-03 1.06146656e+01] [ 4.28579079e-03 -1.45358851e-05 9.99990816e-01 9.48714946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.838623853 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:68.03, Y:10.62, Z:0.10 [[ 9.45268306e-01 -3.26268863e-01 -4.05698875e-03 6.80344500e+01] [ 3.26265938e-01 9.45277011e-01 -1.38168576e-03 1.06242513e+01] [ 4.28577925e-03 -1.75934835e-05 9.99990816e-01 9.55927723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.868623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:68.06, Y:10.63, Z:0.10 [[ 9.44744622e-01 -3.27782155e-01 -4.05690772e-03 6.80606445e+01] [ 3.27779243e-01 9.44753332e-01 -1.38192366e-03 1.06342058e+01] [ 4.28574700e-03 -2.42051992e-05 9.99990816e-01 9.64324389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.898623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:68.09, Y:10.64, Z:0.10 [[ 9.44509531e-01 -3.28458959e-01 -4.05682763e-03 6.80859247e+01] [ 3.28456052e-01 9.44518243e-01 -1.38215874e-03 1.06431002e+01] [ 4.28573012e-03 -2.70274793e-05 9.99990816e-01 9.70564011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:68.11, Y:10.65, Z:0.10 [[ 9.44449331e-01 -3.28632021e-01 -4.05671677e-03 6.81128306e+01] [ 3.28629114e-01 9.44458043e-01 -1.38248403e-03 1.06524807e+01] [ 4.28572730e-03 -2.74691216e-05 9.99990816e-01 9.71784996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.958623853 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:68.14, Y:10.66, Z:0.10 [[ 9.43994035e-01 -3.29937581e-01 -4.05646332e-03 6.81387775e+01] [ 3.29934683e-01 9.44002750e-01 -1.38322732e-03 1.06623052e+01] [ 4.28569120e-03 -3.26096007e-05 9.99990816e-01 1.03976292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:68.16, Y:10.67, Z:0.10 [[ 9.43503721e-01 -3.31337103e-01 -4.05619342e-03 6.81638445e+01] [ 3.31334214e-01 9.43512439e-01 -1.38401831e-03 1.06711982e+01] [ 4.28564556e-03 -3.81292365e-05 9.99990816e-01 9.70122701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:68.19, Y:10.68, Z:0.10 [[ 9.43137430e-01 -3.32378304e-01 -4.05607619e-03 6.81899787e+01] [ 3.32375423e-01 9.43146151e-01 -1.38436179e-03 1.06802047e+01] [ 4.28560447e-03 -4.24966241e-05 9.99990816e-01 9.78937391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:68.22, Y:10.69, Z:0.10 [[ 9.42770393e-01 -3.33417960e-01 -4.05580886e-03 6.82164933e+01] [ 3.33415086e-01 9.42779116e-01 -1.38514455e-03 1.06886807e+01] [ 4.28556396e-03 -4.63945856e-05 9.99990816e-01 9.79778531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:68.24, Y:10.70, Z:0.10 [[ 9.41985986e-01 -3.35627702e-01 -4.05553854e-03 6.82431026e+01] [ 3.35624845e-01 9.41994715e-01 -1.38593555e-03 1.06976553e+01] [ 4.28545424e-03 -5.56076333e-05 9.99990816e-01 9.84485479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10862385300001 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:68.27, Y:10.71, Z:0.10 [[ 9.41383284e-01 -3.37314494e-01 -4.05526695e-03 6.82681146e+01] [ 3.37311649e-01 9.41392016e-01 -1.38672978e-03 1.07065733e+01] [ 4.28535998e-03 -6.24445434e-05 9.99990816e-01 1.04570210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.138623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:68.30, Y:10.71, Z:0.10 [[ 9.40981416e-01 -3.38433939e-01 -4.05514924e-03 6.82954185e+01] [ 3.38431103e-01 9.40990151e-01 -1.38707392e-03 1.07141898e+01] [ 4.28528838e-03 -6.71778493e-05 9.99990816e-01 9.82139876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:68.32, Y:10.72, Z:0.10 [[ 9.40509755e-01 -3.39742490e-01 -4.05488098e-03 6.83213791e+01] [ 3.39739663e-01 9.40518493e-01 -1.38785768e-03 1.07219034e+01] [ 4.28520477e-03 -7.23102067e-05 9.99990816e-01 9.71414514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.198623853 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:68.35, Y:10.73, Z:0.10 [[ 9.39649911e-01 -3.42113437e-01 -4.05476454e-03 6.83486726e+01] [ 3.42110631e-01 9.39658656e-01 -1.38819779e-03 1.07279741e+01] [ 4.28501571e-03 -8.27581273e-05 9.99990816e-01 1.00582733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:68.38, Y:10.73, Z:0.09 [[ 9.39205689e-01 -3.43331083e-01 -4.05468310e-03 6.83757343e+01] [ 3.43328287e-01 9.39214437e-01 -1.38843563e-03 1.07348218e+01] [ 4.28491001e-03 -8.80607562e-05 9.99990816e-01 9.41723682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.258623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:68.40, Y:10.74, Z:0.09 [[ 9.38719889e-01 -3.44657123e-01 -4.05441665e-03 6.84026454e+01] [ 3.44654336e-01 9.38728640e-01 -1.38921324e-03 1.07402022e+01] [ 4.28479927e-03 -9.32901771e-05 9.99990816e-01 9.35657539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:68.43, Y:10.75, Z:0.09 [[ 9.38659173e-01 -3.44822448e-01 -4.05423462e-03 6.84300380e+01] [ 3.44819660e-01 9.38667923e-01 -1.38974427e-03 1.07479469e+01] [ 4.28479502e-03 -9.34835942e-05 9.99990816e-01 9.42341541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.318623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:68.46, Y:10.76, Z:0.09 [[ 9.38755351e-01 -3.44560526e-01 -4.05397155e-03 6.84568288e+01] [ 3.44557732e-01 9.38764100e-01 -1.39051126e-03 1.07551280e+01] [ 4.28483824e-03 -9.14773534e-05 9.99990816e-01 9.49367379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:68.48, Y:10.76, Z:0.09 [[ 9.39036215e-01 -3.43794348e-01 -4.05370397e-03 6.84829185e+01] [ 3.43791544e-01 9.39044961e-01 -1.39129088e-03 1.07616333e+01] [ 4.28492823e-03 -8.71566237e-05 9.99990816e-01 9.47236303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37862385300001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:68.51, Y:10.77, Z:0.09 [[ 9.40058653e-01 -3.40988706e-01 -4.05358738e-03 6.85103512e+01] [ 3.40985874e-01 9.40067389e-01 -1.39163048e-03 1.07670721e+01] [ 4.28517558e-03 -7.40017667e-05 9.99990816e-01 9.42552962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40862385300001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:68.54, Y:10.77, Z:0.10 [[ 9.40642864e-01 -3.39373793e-01 -4.05350480e-03 6.85375499e+01] [ 3.39370945e-01 9.40651596e-01 -1.39187099e-03 1.07744246e+01] [ 4.28530029e-03 -6.63882399e-05 9.99990816e-01 9.55498029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43862385300001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:68.56, Y:10.78, Z:0.10 [[ 9.42074696e-01 -3.35378648e-01 -4.05322977e-03 6.85638946e+01] [ 3.35375760e-01 9.42083415e-01 -1.39267143e-03 1.07796901e+01] [ 4.28555280e-03 -4.73545045e-05 9.99990816e-01 9.50709456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:68.59, Y:10.79, Z:0.10 [[ 9.42679389e-01 -3.33675206e-01 -4.05304280e-03 6.85906884e+01] [ 3.33672300e-01 9.42688101e-01 -1.39321535e-03 1.07873493e+01] [ 4.28563664e-03 -3.90327218e-05 9.99990816e-01 9.52904089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:68.62, Y:10.80, Z:0.10 [[ 9.43205901e-01 -3.32183989e-01 -4.05278190e-03 6.86176971e+01] [ 3.32181066e-01 9.43214608e-01 -1.39397389e-03 1.07953089e+01] [ 4.28569889e-03 -3.14530116e-05 9.99990816e-01 9.53255333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:68.64, Y:10.80, Z:0.10 [[ 9.43635005e-01 -3.30963072e-01 -4.05251991e-03 6.86432108e+01] [ 3.30960135e-01 9.43643706e-01 -1.39473510e-03 1.08030072e+01] [ 4.28574072e-03 -2.51016731e-05 9.99990816e-01 1.01388007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.67, Y:10.81, Z:0.10 [[ 9.44627628e-01 -3.28119220e-01 -4.05234115e-03 6.86713192e+01] [ 3.28116254e-01 9.44636320e-01 -1.39525429e-03 1.08087338e+01] [ 4.28579838e-03 -1.16432454e-05 9.99990816e-01 9.79717678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.70, Y:10.82, Z:0.10 [[ 9.45036321e-01 -3.26940259e-01 -4.05211150e-03 6.86979795e+01] [ 3.26937279e-01 9.45045008e-01 -1.39592092e-03 1.08153417e+01] [ 4.28581050e-03 -5.59033283e-06 9.99990816e-01 9.89623143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.73, Y:10.82, Z:0.10 [[ 9.45372739e-01 -3.25966204e-01 -4.05203021e-03 6.87255602e+01] [ 3.25963214e-01 9.45381423e-01 -1.39615686e-03 1.08223348e+01] [ 4.28581403e-03 -9.24157152e-07 9.99990816e-01 1.00189809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.75, Y:10.83, Z:0.10 [[ 9.46189691e-01 -3.23587163e-01 -4.05176848e-03 6.87530462e+01] [ 3.23584148e-01 9.46198366e-01 -1.39691601e-03 1.08284280e+01] [ 4.28580080e-03 1.06594762e-05 9.99990816e-01 1.00982451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.678623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:68.78, Y:10.84, Z:0.10 [[ 9.46667227e-01 -3.22187441e-01 -4.05150110e-03 6.87795496e+01] [ 3.22184410e-01 9.46675896e-01 -1.39769106e-03 1.08365265e+01] [ 4.28577694e-03 1.78178306e-05 9.99990816e-01 1.00240574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:68.81, Y:10.84, Z:0.10 [[ 9.47283517e-01 -3.20370920e-01 -4.05123011e-03 6.88051105e+01] [ 3.20367868e-01 9.47292179e-01 -1.39847610e-03 1.08439533e+01] [ 4.28572967e-03 2.68694072e-05 9.99990816e-01 9.91527210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.738623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:68.83, Y:10.85, Z:0.10 [[ 9.48523157e-01 -3.16681873e-01 -4.05111264e-03 6.88318780e+01] [ 3.16678787e-01 9.48531807e-01 -1.39881631e-03 1.08502278e+01] [ 4.28558896e-03 4.39082247e-05 9.99990816e-01 9.76894166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76862385300001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:68.86, Y:10.86, Z:0.10 [[ 9.49142084e-01 -3.14822003e-01 -4.05099666e-03 6.88584584e+01] [ 3.14818898e-01 9.49150728e-01 -1.39915210e-03 1.08582823e+01] [ 4.28549029e-03 5.26638370e-05 9.99990816e-01 1.01457666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79862385300001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:68.89, Y:10.87, Z:0.10 [[ 9.49779533e-01 -3.12893639e-01 -4.05091518e-03 6.88851348e+01] [ 3.12890515e-01 9.49788170e-01 -1.39938795e-03 1.08668432e+01] [ 4.28537091e-03 6.16170960e-05 9.99990816e-01 1.02979593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:10.88, Z:0.10 [[ 9.51261948e-01 -3.08357419e-01 -4.05065227e-03 6.89114649e+01] [ 3.08354252e-01 9.51270569e-01 -1.40014856e-03 1.08751307e+01] [ 4.28501249e-03 8.28722018e-05 9.99990816e-01 9.79207088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:68.94, Y:10.89, Z:0.10 [[ 9.51816263e-01 -3.06642128e-01 -4.05057081e-03 6.89377352e+01] [ 3.06638944e-01 9.51824877e-01 -1.40038419e-03 1.08850924e+01] [ 4.28485085e-03 9.08456893e-05 9.99990816e-01 1.03764663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.96, Y:10.90, Z:0.10 [[ 9.52357831e-01 -3.04955992e-01 -4.05030903e-03 6.89641304e+01] [ 3.04952789e-01 9.52366438e-01 -1.40114091e-03 1.08951885e+01] [ 4.28466470e-03 9.92344831e-05 9.99990816e-01 9.99299578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.99, Y:10.91, Z:0.10 [[ 9.53302328e-01 -3.01990512e-01 -4.05004207e-03 6.89896186e+01] [ 3.01987280e-01 9.53310924e-01 -1.40191216e-03 1.09054229e+01] [ 4.28431352e-03 1.13384942e-04 9.99990816e-01 1.01075189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.02, Y:10.92, Z:0.10 [[ 9.53518179e-01 -3.01308282e-01 -4.04995933e-03 6.90154602e+01] [ 3.01305042e-01 9.53526772e-01 -1.40215115e-03 1.09152417e+01] [ 4.28422440e-03 1.16703445e-04 9.99990816e-01 1.02127706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.978623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.04, Y:10.92, Z:0.10 [[ 9.53744461e-01 -3.00591256e-01 -4.04969327e-03 6.90420178e+01] [ 3.00588006e-01 9.53753051e-01 -1.40291915e-03 1.09245527e+01] [ 4.28411254e-03 1.20737148e-04 9.99990816e-01 1.02437424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.008623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.07, Y:10.93, Z:0.10 [[ 9.54150813e-01 -2.99298896e-01 -4.04942726e-03 6.90670841e+01] [ 2.99295631e-01 9.54159397e-01 -1.40368654e-03 1.09340169e+01] [ 4.28392091e-03 1.27352767e-04 9.99990816e-01 1.02693265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.038623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:69.09, Y:10.94, Z:0.10 [[ 9.54262352e-01 -2.98943083e-01 -4.04931161e-03 6.90928726e+01] [ 2.98939814e-01 9.54270934e-01 -1.40402008e-03 1.09443926e+01] [ 4.28386247e-03 1.29303046e-04 9.99990816e-01 1.02596281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.12, Y:10.95, Z:0.10 [[ 9.54376947e-01 -2.98577038e-01 -4.04904850e-03 6.91174950e+01] [ 2.98573763e-01 9.54385527e-01 -1.40477848e-03 1.09548204e+01] [ 4.28378788e-03 1.31748551e-04 9.99990816e-01 1.00328981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.098623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:69.14, Y:10.97, Z:0.10 [[ 9.54481549e-01 -2.98242482e-01 -4.04893372e-03 6.91435257e+01] [ 2.98239202e-01 9.54490128e-01 -1.40510922e-03 1.09658187e+01] [ 4.28373052e-03 1.33600064e-04 9.99990816e-01 1.00110566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.17, Y:10.98, Z:0.10 [[ 9.54679440e-01 -2.97608425e-01 -4.04869570e-03 6.91691080e+01] [ 2.97605137e-01 9.54688015e-01 -1.40579471e-03 1.09790169e+01] [ 4.28361761e-03 1.37170666e-04 9.99990816e-01 1.00326922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.19, Y:10.99, Z:0.10 [[ 9.54739695e-01 -2.97415072e-01 -4.04844726e-03 6.91936807e+01] [ 2.97411778e-01 9.54748268e-01 -1.40650982e-03 1.09904809e+01] [ 4.28356523e-03 1.38794857e-04 9.99990816e-01 9.86742497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.22, Y:11.00, Z:0.10 [[ 9.54711335e-01 -2.97506097e-01 -4.04833196e-03 6.92190371e+01] [ 2.97502803e-01 9.54719908e-01 -1.40684160e-03 1.10017762e+01] [ 4.28356707e-03 1.38737517e-04 9.99990816e-01 9.74055513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.24, Y:11.01, Z:0.10 [[ 9.54415932e-01 -2.98452410e-01 -4.04825168e-03 6.92440981e+01] [ 2.98449123e-01 9.54424508e-01 -1.40707257e-03 1.10149600e+01] [ 4.28369482e-03 1.34735317e-04 9.99990816e-01 9.67679695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:69.27, Y:11.03, Z:0.10 [[ 9.54127714e-01 -2.99372543e-01 -4.04799622e-03 6.92696787e+01] [ 2.99369261e-01 9.54136292e-01 -1.40780712e-03 1.10265467e+01] [ 4.28379890e-03 1.31382153e-04 9.99990816e-01 9.82481767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.278623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:69.29, Y:11.04, Z:0.10 [[ 9.53255781e-01 -3.02137438e-01 -4.04773267e-03 6.92944135e+01] [ 3.02134178e-01 9.53264368e-01 -1.40856447e-03 1.10407171e+01] [ 4.28413938e-03 1.19763841e-04 9.99990816e-01 1.03831495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:69.32, Y:11.05, Z:0.10 [[ 9.52742739e-01 -3.03751364e-01 -4.04746496e-03 6.93194798e+01] [ 3.03748115e-01 9.52751330e-01 -1.40933332e-03 1.10523883e+01] [ 4.28431454e-03 1.13322234e-04 9.99990816e-01 1.00395980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.338623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:69.35, Y:11.06, Z:0.10 [[ 9.52141323e-01 -3.05631346e-01 -4.04734807e-03 6.93451624e+01] [ 3.05628113e-01 9.52149920e-01 -1.40966892e-03 1.10644420e+01] [ 4.28452115e-03 1.05220681e-04 9.99990816e-01 1.01362841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.368623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.37, Y:11.08, Z:0.10 [[ 9.51549531e-01 -3.07468879e-01 -4.04708005e-03 6.93692385e+01] [ 3.07465659e-01 9.51558132e-01 -1.41043795e-03 1.10764818e+01] [ 4.28469771e-03 9.77634370e-05 9.99990816e-01 1.01916191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.398623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:69.39, Y:11.09, Z:0.11 [[ 9.50673367e-01 -3.10167328e-01 -4.04696374e-03 6.93933796e+01] [ 3.10164132e-01 9.50681977e-01 -1.41077160e-03 1.10914078e+01] [ 4.28495075e-03 8.59599934e-05 9.99990816e-01 1.09277914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.42, Y:11.10, Z:0.10 [[ 9.50282618e-01 -3.11362441e-01 -4.04669157e-03 6.94173537e+01] [ 3.11359252e-01 9.50291231e-01 -1.41155189e-03 1.11034449e+01] [ 4.28503975e-03 8.13983650e-05 9.99990816e-01 1.02996095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.44, Y:11.12, Z:0.10 [[ 9.49695540e-01 -3.13148540e-01 -4.04650600e-03 6.94408514e+01] [ 3.13145364e-01 9.49704157e-01 -1.41208367e-03 1.11196455e+01] [ 4.28517551e-03 7.39049639e-05 9.99990816e-01 1.03464357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:11.13, Z:0.10 [[ 9.49491655e-01 -3.13766194e-01 -4.04623655e-03 6.94650922e+01] [ 3.13763021e-01 9.49500274e-01 -1.41285534e-03 1.11328763e+01] [ 4.28520895e-03 7.19349494e-05 9.99990816e-01 1.03112508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:11.15, Z:0.10 [[ 9.49304859e-01 -3.14330897e-01 -4.04611936e-03 6.94897547e+01] [ 3.14327728e-01 9.49313479e-01 -1.41319084e-03 1.11462927e+01] [ 4.28524520e-03 6.97414263e-05 9.99990816e-01 1.03560030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:69.51, Y:11.16, Z:0.10 [[ 9.49123074e-01 -3.14879375e-01 -4.04584316e-03 6.95138470e+01] [ 3.14876207e-01 9.49131695e-01 -1.41398115e-03 1.11593293e+01] [ 4.28527148e-03 6.81023861e-05 9.99990816e-01 1.02310155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:11.18, Z:0.10 [[ 9.48620533e-01 -3.16390135e-01 -4.04565556e-03 6.95376801e+01] [ 3.16386979e-01 9.48629158e-01 -1.41451771e-03 1.11760298e+01] [ 4.28536627e-03 6.18478100e-05 9.99990816e-01 1.00690879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:11.19, Z:0.10 [[ 9.48243915e-01 -3.17517107e-01 -4.04538068e-03 6.95621045e+01] [ 3.17513958e-01 9.48252542e-01 -1.41530340e-03 1.11886499e+01] [ 4.28542555e-03 5.75880076e-05 9.99990816e-01 9.93186717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.59, Y:11.20, Z:0.10 [[ 9.47730781e-01 -3.19045455e-01 -4.04526113e-03 6.95875717e+01] [ 3.19042318e-01 9.47739413e-01 -1.41564502e-03 1.12015251e+01] [ 4.28550852e-03 5.10408688e-05 9.99990816e-01 9.82468030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:11.22, Z:0.09 [[ 9.46608588e-01 -3.22359768e-01 -4.04498253e-03 6.96116862e+01] [ 3.22356658e-01 9.46617229e-01 -1.41644063e-03 1.12178089e+01] [ 4.28565363e-03 3.68878098e-05 9.99990816e-01 9.47855015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.698623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.64, Y:11.23, Z:0.10 [[ 9.45967253e-01 -3.24236943e-01 -4.04489591e-03 6.96371468e+01] [ 3.24233850e-01 9.45975900e-01 -1.41668794e-03 1.12311728e+01] [ 4.28571662e-03 2.86482263e-05 9.99990816e-01 9.55602164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:11.24, Z:0.10 [[ 9.45297665e-01 -3.26183944e-01 -4.04461646e-03 6.96618451e+01] [ 3.26180864e-01 9.45306318e-01 -1.41748531e-03 1.12446224e+01] [ 4.28576244e-03 2.06690604e-05 9.99990816e-01 9.52166149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.68, Y:11.26, Z:0.10 [[ 9.44142476e-01 -3.29512714e-01 -4.04433755e-03 6.96843826e+01] [ 3.29509662e-01 9.44151138e-01 -1.41828065e-03 1.12620102e+01] [ 4.28580741e-03 6.41070787e-06 9.99990816e-01 9.52443209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.71, Y:11.27, Z:0.09 [[ 9.43656705e-01 -3.30901296e-01 -4.04421607e-03 6.97080825e+01] [ 3.30898255e-01 9.43665371e-01 -1.41862697e-03 1.12745842e+01] [ 4.28581216e-03 4.72811586e-07 9.99990816e-01 9.45281938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:11.28, Z:0.09 [[ 9.43594766e-01 -3.31077881e-01 -4.04409635e-03 6.97348944e+01] [ 3.31074840e-01 9.43603432e-01 -1.41896817e-03 1.12841982e+01] [ 4.28581217e-03 3.23881278e-08 9.99990816e-01 9.46502657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:69.76, Y:11.30, Z:0.10 [[ 9.43179673e-01 -3.32258562e-01 -4.04383067e-03 6.97603053e+01] [ 3.32255529e-01 9.43188342e-01 -1.41972491e-03 1.12961136e+01] [ 4.28580970e-03 -4.52941939e-06 9.99990816e-01 1.01804093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.78, Y:11.31, Z:0.10 [[ 9.42115114e-01 -3.35265210e-01 -4.04355985e-03 6.97846966e+01] [ 3.35262201e-01 9.42123792e-01 -1.42049582e-03 1.13100800e+01] [ 4.28577677e-03 -1.73821969e-05 9.99990816e-01 9.79566868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:11.32, Z:0.10 [[ 9.41569972e-01 -3.36793168e-01 -4.04347583e-03 6.98106371e+01] [ 3.36790172e-01 9.41578654e-01 -1.42073493e-03 1.13214268e+01] [ 4.28574435e-03 -2.40815686e-05 9.99990816e-01 1.00052852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:11.33, Z:0.10 [[ 9.41044564e-01 -3.38258454e-01 -4.04320518e-03 6.98352126e+01] [ 3.38255469e-01 9.41053249e-01 -1.42150475e-03 1.13331490e+01] [ 4.28570737e-03 -2.99369436e-05 9.99990816e-01 1.01445137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:11.35, Z:0.10 [[ 9.40599988e-01 -3.39492734e-01 -4.04301999e-03 6.98607855e+01] [ 3.39489758e-01 9.40608677e-01 -1.42203127e-03 1.13457567e+01] [ 4.28566897e-03 -3.50012822e-05 9.99990816e-01 1.02710783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.89, Y:11.36, Z:0.10 [[ 9.40091394e-01 -3.40898558e-01 -4.04274731e-03 6.98862171e+01] [ 3.40895591e-01 9.40100086e-01 -1.42280606e-03 1.13586128e+01] [ 4.28561963e-03 -4.05870001e-05 9.99990816e-01 1.03080441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.91, Y:11.37, Z:0.10 [[ 9.39140837e-01 -3.43508582e-01 -4.04247302e-03 6.99104188e+01] [ 3.43505636e-01 9.39149536e-01 -1.42358495e-03 1.13718140e+01] [ 4.28550031e-03 -5.16655077e-05 9.99990816e-01 1.01010448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:11.38, Z:0.10 [[ 9.38605469e-01 -3.44968742e-01 -4.04235399e-03 6.99361475e+01] [ 3.44965808e-01 9.38614172e-01 -1.42392287e-03 1.13817921e+01] [ 4.28541962e-03 -5.79721185e-05 9.99990816e-01 1.00334647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:11.39, Z:0.10 [[ 9.37947755e-01 -3.46753040e-01 -4.04208729e-03 6.99621369e+01] [ 3.46750119e-01 9.37956462e-01 -1.42467953e-03 1.13919455e+01] [ 4.28531386e-03 -6.53192814e-05 9.99990816e-01 1.00362526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.99, Y:11.40, Z:0.10 [[ 9.36911349e-01 -3.49543685e-01 -4.04181198e-03 6.99878201e+01] [ 3.49540787e-01 9.36920064e-01 -1.42546018e-03 1.14030961e+01] [ 4.28511534e-03 -7.72483139e-05 9.99990816e-01 9.88232300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:11.41, Z:0.10 [[ 9.36542169e-01 -3.50531640e-01 -4.04153802e-03 7.00129694e+01] [ 3.50528748e-01 9.36550886e-01 -1.42623648e-03 1.14129308e+01] [ 4.28504703e-03 -8.09446534e-05 9.99990816e-01 9.86384685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.04, Y:11.42, Z:0.10 [[ 9.36239597e-01 -3.51338988e-01 -4.04135176e-03 7.00384392e+01] [ 3.51336101e-01 9.36248315e-01 -1.42676408e-03 1.14232255e+01] [ 4.28498663e-03 -8.40797412e-05 9.99990816e-01 9.76869542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.06, Y:11.43, Z:0.10 [[ 9.36206888e-01 -3.51426140e-01 -4.04123445e-03 7.00643792e+01] [ 3.51423253e-01 9.36215606e-01 -1.42709627e-03 1.14336019e+01] [ 4.28498570e-03 -8.41264002e-05 9.99990816e-01 9.70294519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:11.44, Z:0.10 [[ 9.36274567e-01 -3.51245788e-01 -4.04115162e-03 7.00906893e+01] [ 3.51242898e-01 9.36283285e-01 -1.42733080e-03 1.14440692e+01] [ 4.28500664e-03 -8.30522789e-05 9.99990816e-01 9.68014246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.12, Y:11.45, Z:0.10 [[ 9.36354604e-01 -3.51032373e-01 -4.04088196e-03 7.01153617e+01] [ 3.51029477e-01 9.36363320e-01 -1.42809381e-03 1.14538093e+01] [ 4.28504081e-03 -8.12664733e-05 9.99990816e-01 9.58755291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:70.14, Y:11.46, Z:0.10 [[ 9.36794188e-01 -3.49857575e-01 -4.04069818e-03 7.01407914e+01] [ 3.49854666e-01 9.36802899e-01 -1.42861361e-03 1.14628581e+01] [ 4.28514906e-03 -7.53401910e-05 9.99990816e-01 1.00040516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.17, Y:11.47, Z:0.10 [[ 9.36933722e-01 -3.49483724e-01 -4.04058187e-03 7.01669620e+01] [ 3.49480811e-01 9.36942432e-01 -1.42894249e-03 1.14731453e+01] [ 4.28518475e-03 -7.32814187e-05 9.99990816e-01 9.60487628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.19, Y:11.48, Z:0.10 [[ 9.37016634e-01 -3.49261367e-01 -4.04050312e-03 7.01934487e+01] [ 3.49258450e-01 9.37025343e-01 -1.42916514e-03 1.14829988e+01] [ 4.28520599e-03 -7.20283494e-05 9.99990816e-01 9.69137905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:11.49, Z:0.10 [[ 9.37036465e-01 -3.49208162e-01 -4.04023945e-03 7.02202405e+01] [ 3.49205242e-01 9.37045172e-01 -1.42991014e-03 1.14925522e+01] [ 4.28522317e-03 -7.09948570e-05 9.99990816e-01 9.67257272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:11.50, Z:0.10 [[ 9.36886048e-01 -3.49611516e-01 -4.03997359e-03 7.02461751e+01] [ 3.49608596e-01 9.36894755e-01 -1.43066091e-03 1.15022265e+01] [ 4.28520559e-03 -7.20432467e-05 9.99990816e-01 9.60771565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:11.51, Z:0.10 [[ 9.36762942e-01 -3.49941240e-01 -4.03970800e-03 7.02725551e+01] [ 3.49938320e-01 9.36771649e-01 -1.43141043e-03 1.15118344e+01] [ 4.28519347e-03 -7.27563892e-05 9.99990816e-01 9.67696348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.478623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.30, Y:11.52, Z:0.10 [[ 9.36688372e-01 -3.50140797e-01 -4.03943626e-03 7.02984610e+01] [ 3.50137875e-01 9.36697079e-01 -1.43217687e-03 1.15205362e+01] [ 4.28519170e-03 -7.28562081e-05 9.99990816e-01 9.67358515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:11.53, Z:0.10 [[ 9.36568345e-01 -3.50461722e-01 -4.03931855e-03 7.03250976e+01] [ 3.50458802e-01 9.36577053e-01 -1.43250879e-03 1.15275292e+01] [ 4.28517256e-03 -7.39723576e-05 9.99990816e-01 9.57583875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:11.54, Z:0.10 [[ 9.36528003e-01 -3.50569515e-01 -4.03920360e-03 7.03513279e+01] [ 3.50566595e-01 9.36536710e-01 -1.43283284e-03 1.15360842e+01] [ 4.28516997e-03 -7.41217693e-05 9.99990816e-01 9.66635808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:70.38, Y:11.54, Z:0.10 [[ 9.37023420e-01 -3.49243178e-01 -4.03894161e-03 7.03776290e+01] [ 3.49240243e-01 9.37032122e-01 -1.43357098e-03 1.15441817e+01] [ 4.28528291e-03 -6.72713612e-05 9.99990816e-01 1.02118013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:11.55, Z:0.10 [[ 9.37462787e-01 -3.48062080e-01 -4.03867795e-03 7.04030146e+01] [ 3.48059130e-01 9.37471485e-01 -1.43431337e-03 1.15536886e+01] [ 4.28537551e-03 -6.10833226e-05 9.99990816e-01 9.63233359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:11.56, Z:0.10 [[ 9.38068978e-01 -3.46425004e-01 -4.03856315e-03 7.04290708e+01] [ 3.46422038e-01 9.38077669e-01 -1.43463655e-03 1.15630658e+01] [ 4.28547988e-03 -5.32592330e-05 9.99990816e-01 9.75835435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:11.57, Z:0.10 [[ 9.39770017e-01 -3.41783569e-01 -4.03828662e-03 7.04554510e+01] [ 3.41780556e-01 9.39778693e-01 -1.43541450e-03 1.15737203e+01] [ 4.28569681e-03 -3.12483424e-05 9.99990816e-01 9.80235931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:11.58, Z:0.10 [[ 9.40666232e-01 -3.39309202e-01 -4.03800949e-03 7.04811891e+01] [ 3.39306163e-01 9.40674899e-01 -1.43619370e-03 1.15830325e+01] [ 4.28576790e-03 -1.91425958e-05 9.99990816e-01 9.78509333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:11.59, Z:0.10 [[ 9.41363909e-01 -3.37368770e-01 -4.03782084e-03 7.05076356e+01] [ 3.37365711e-01 9.41372568e-01 -1.43672389e-03 1.15926660e+01] [ 4.28579954e-03 -9.74227822e-06 9.99990816e-01 9.75648202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.53, Y:11.60, Z:0.10 [[ 9.42513335e-01 -3.34144148e-01 -4.03754202e-03 7.05332931e+01] [ 3.34141056e-01 9.42521983e-01 -1.43750700e-03 1.16021312e+01] [ 4.28580666e-03 5.76096647e-06 9.99990816e-01 9.54965820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:11.61, Z:0.10 [[ 9.42857873e-01 -3.33170724e-01 -4.03735209e-03 7.05596936e+01] [ 3.33167621e-01 9.42866517e-01 -1.43804023e-03 1.16119621e+01] [ 4.28579701e-03 1.07525643e-05 9.99990816e-01 9.62417417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:11.62, Z:0.10 [[ 9.42983675e-01 -3.32814499e-01 -4.03709659e-03 7.05857418e+01] [ 3.32811389e-01 9.42992317e-01 -1.43875716e-03 1.16217651e+01] [ 4.28579031e-03 1.31327917e-05 9.99990816e-01 9.84370424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.61, Y:11.63, Z:0.10 [[ 9.43113485e-01 -3.32446474e-01 -4.03682706e-03 7.06118987e+01] [ 3.32443358e-01 9.43122125e-01 -1.43951302e-03 1.16315170e+01] [ 4.28578194e-03 1.56078006e-05 9.99990816e-01 9.81491938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.868623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:70.64, Y:11.64, Z:0.11 [[ 9.43122441e-01 -3.32421069e-01 -4.03674316e-03 7.06378782e+01] [ 3.32417951e-01 9.43131079e-01 -1.43974826e-03 1.16413371e+01] [ 4.28578058e-03 1.59729996e-05 9.99990816e-01 1.05658830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.898623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:70.66, Y:11.65, Z:0.11 [[ 9.43055930e-01 -3.32609710e-01 -4.03646018e-03 7.06638155e+01] [ 3.32606591e-01 9.43064568e-01 -1.44054117e-03 1.16507298e+01] [ 4.28578056e-03 1.59576315e-05 9.99990816e-01 1.08033578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.69, Y:11.66, Z:0.10 [[ 9.42623648e-01 -3.33832844e-01 -4.03617436e-03 7.06899459e+01] [ 3.33829733e-01 9.42632289e-01 -1.44134153e-03 1.16616705e+01] [ 4.28579542e-03 1.12476048e-05 9.99990816e-01 1.01800172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:11.67, Z:0.10 [[ 9.42375496e-01 -3.34532711e-01 -4.03608578e-03 7.07165019e+01] [ 3.34529605e-01 9.42384139e-01 -1.44158954e-03 1.16718286e+01] [ 4.28580208e-03 8.32847646e-06 9.99990816e-01 1.00886632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.74, Y:11.68, Z:0.10 [[ 9.42168040e-01 -3.35116543e-01 -4.03581929e-03 7.07424596e+01] [ 3.35113439e-01 9.42176683e-01 -1.44233521e-03 1.16821524e+01] [ 4.28580523e-03 6.46485443e-06 9.99990816e-01 1.00677173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:11.69, Z:0.10 [[ 9.41757375e-01 -3.36268883e-01 -4.03554778e-03 7.07679262e+01] [ 3.36265787e-01 9.41766021e-01 -1.44309447e-03 1.16928676e+01] [ 4.28580955e-03 2.02820949e-06 9.99990816e-01 9.91377329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:11.70, Z:0.10 [[ 9.41519274e-01 -3.36934968e-01 -4.03546360e-03 7.07927458e+01] [ 3.36931876e-01 9.41527922e-01 -1.44332984e-03 1.17026658e+01] [ 4.28580995e-03 -7.53457345e-07 9.99990816e-01 9.75863998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:70.82, Y:11.71, Z:0.10 [[ 9.41291715e-01 -3.37570177e-01 -4.03528083e-03 7.08190135e+01] [ 3.37567089e-01 9.41300364e-01 -1.44384065e-03 1.17125566e+01] [ 4.28580886e-03 -3.10276417e-06 9.99990816e-01 1.04537632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.84, Y:11.72, Z:0.10 [[ 9.40997139e-01 -3.38390460e-01 -4.03501365e-03 7.08446887e+01] [ 3.38387377e-01 9.41005790e-01 -1.44458695e-03 1.17231567e+01] [ 4.28580565e-03 -6.04549968e-06 9.99990816e-01 1.00918880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:11.73, Z:0.10 [[ 9.40538250e-01 -3.39663836e-01 -4.03473500e-03 7.08703814e+01] [ 3.39660761e-01 9.40546904e-01 -1.44536480e-03 1.17324689e+01] [ 4.28579566e-03 -1.10202858e-05 9.99990816e-01 9.98822465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.90, Y:11.74, Z:0.10 [[ 9.40236077e-01 -3.40499400e-01 -4.03461359e-03 7.08968177e+01] [ 3.40496331e-01 9.40244733e-01 -1.44570362e-03 1.17420308e+01] [ 4.28578539e-03 -1.44684287e-05 9.99990816e-01 1.00561840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.198623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.92, Y:11.75, Z:0.10 [[ 9.39710936e-01 -3.41946020e-01 -4.03434100e-03 7.09232199e+01] [ 3.41942961e-01 9.39719596e-01 -1.44646389e-03 1.17514072e+01] [ 4.28576187e-03 -2.02565724e-05 9.99990816e-01 1.01964782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:70.95, Y:11.76, Z:0.10 [[ 9.39391023e-01 -3.42823906e-01 -4.03421267e-03 7.09491700e+01] [ 3.42820854e-01 9.39399686e-01 -1.44682172e-03 1.17610579e+01] [ 4.28574319e-03 -2.38808935e-05 9.99990816e-01 1.02835429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:11.77, Z:0.10 [[ 9.39154993e-01 -3.43469978e-01 -4.03393904e-03 7.09744395e+01] [ 3.43466929e-01 9.39163656e-01 -1.44758423e-03 1.17698507e+01] [ 4.28573067e-03 -2.60186950e-05 9.99990816e-01 1.02439366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:11.78, Z:0.10 [[ 9.38884958e-01 -3.44207442e-01 -4.03382038e-03 7.10009551e+01] [ 3.44204398e-01 9.38893623e-01 -1.44791483e-03 1.17789630e+01] [ 4.28571129e-03 -2.90332648e-05 9.99990816e-01 1.02982150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.03, Y:11.79, Z:0.10 [[ 9.38324251e-01 -3.45733035e-01 -4.03354924e-03 7.10280939e+01] [ 3.45730002e-01 9.38332919e-01 -1.44866977e-03 1.17869718e+01] [ 4.28566503e-03 -3.51970106e-05 9.99990816e-01 1.02063228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:11.80, Z:0.10 [[ 9.38013616e-01 -3.46574936e-01 -4.03346490e-03 7.10537634e+01] [ 3.46571910e-01 9.38022288e-01 -1.44890454e-03 1.17954868e+01] [ 4.28563397e-03 -3.87934476e-05 9.99990816e-01 1.01759337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.08, Y:11.80, Z:0.10 [[ 9.37760621e-01 -3.47258908e-01 -4.03334746e-03 7.10808662e+01] [ 3.47255886e-01 9.37769294e-01 -1.44923138e-03 1.18036381e+01] [ 4.28560791e-03 -4.15715234e-05 9.99990816e-01 1.04002726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.11, Y:11.81, Z:0.10 [[ 9.37497290e-01 -3.47969201e-01 -4.03307680e-03 7.11079652e+01] [ 3.47966183e-01 9.37505964e-01 -1.44998422e-03 1.18121970e+01] [ 4.28558341e-03 -4.40180624e-05 9.99990816e-01 1.01367309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:11.82, Z:0.10 [[ 9.37234003e-01 -3.48677730e-01 -4.03280332e-03 7.11343132e+01] [ 3.48674715e-01 9.37242679e-01 -1.45074446e-03 1.18188167e+01] [ 4.28555767e-03 -4.64495136e-05 9.99990816e-01 1.00114221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:71.16, Y:11.83, Z:0.10 [[ 9.37199809e-01 -3.48769631e-01 -4.03268397e-03 7.11614695e+01] [ 3.48766615e-01 9.37208484e-01 -1.45107612e-03 1.18271911e+01] [ 4.28555692e-03 -4.65172748e-05 9.99990816e-01 1.04180896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:11.84, Z:0.10 [[ 9.37273110e-01 -3.48572598e-01 -4.03240859e-03 7.11865555e+01] [ 3.48569578e-01 9.37281783e-01 -1.45184098e-03 1.18358042e+01] [ 4.28557510e-03 -4.48034521e-05 9.99990816e-01 1.00005393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:11.84, Z:0.10 [[ 9.37828442e-01 -3.47075718e-01 -4.03222069e-03 7.12139243e+01] [ 3.47072681e-01 9.37837110e-01 -1.45236265e-03 1.18428458e+01] [ 4.28564601e-03 -3.74066417e-05 9.99990816e-01 9.74146276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.24, Y:11.85, Z:0.10 [[ 9.38181008e-01 -3.46121566e-01 -4.03213750e-03 7.12404273e+01] [ 3.46118519e-01 9.38189672e-01 -1.45259359e-03 1.18508108e+01] [ 4.28568372e-03 -3.28017427e-05 9.99990816e-01 1.01879077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:11.86, Z:0.10 [[ 9.39020280e-01 -3.43838128e-01 -4.03186524e-03 7.12668483e+01] [ 3.43835057e-01 9.39028935e-01 -1.45334889e-03 1.18591821e+01] [ 4.28575488e-03 -2.15725335e-05 9.99990816e-01 9.83368364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.29, Y:11.87, Z:0.10 [[ 9.39372282e-01 -3.42875285e-01 -4.03173782e-03 7.12932158e+01] [ 3.42872204e-01 9.39380934e-01 -1.45370228e-03 1.18684705e+01] [ 4.28577622e-03 -1.68032049e-05 9.99990816e-01 9.96821992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.32, Y:11.88, Z:0.10 [[ 9.39628973e-01 -3.42171213e-01 -4.03165700e-03 7.13192886e+01] [ 3.42168124e-01 9.39637622e-01 -1.45392638e-03 1.18779723e+01] [ 4.28578835e-03 -1.33531601e-05 9.99990816e-01 1.00083375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:11.89, Z:0.10 [[ 9.39805806e-01 -3.41685227e-01 -4.03139921e-03 7.13455557e+01] [ 3.41682130e-01 9.39814453e-01 -1.45464081e-03 1.18867581e+01] [ 4.28579652e-03 -1.03771905e-05 9.99990816e-01 1.00411616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:11.89, Z:0.10 [[ 9.39799372e-01 -3.41702924e-01 -4.03131921e-03 7.13722709e+01] [ 3.41699827e-01 9.39808018e-01 -1.45486251e-03 1.18933814e+01] [ 4.28579689e-03 -1.02222069e-05 9.99990816e-01 1.00756300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:11.90, Z:0.10 [[ 9.39739348e-01 -3.41867968e-01 -4.03123958e-03 7.13989877e+01] [ 3.41864871e-01 9.39747994e-01 -1.45508310e-03 1.19032490e+01] [ 4.28579561e-03 -1.07403586e-05 9.99990816e-01 1.00878364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:11.91, Z:0.10 [[ 9.39468236e-01 -3.42612296e-01 -4.03098391e-03 7.14252825e+01] [ 3.42609204e-01 9.39476883e-01 -1.45579103e-03 1.19116531e+01] [ 4.28578811e-03 -1.33827627e-05 9.99990816e-01 1.00687174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.45, Y:11.92, Z:0.10 [[ 9.39092845e-01 -3.43639901e-01 -4.03072869e-03 7.14514687e+01] [ 3.43636815e-01 9.39101495e-01 -1.45649735e-03 1.19196908e+01] [ 4.28577394e-03 -1.73205302e-05 9.99990816e-01 1.01432439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:11.93, Z:0.10 [[ 9.38209454e-01 -3.46044467e-01 -4.03064944e-03 7.14793008e+01] [ 3.46041402e-01 9.38218112e-01 -1.45671661e-03 1.19261863e+01] [ 4.28571703e-03 -2.80662889e-05 9.99990816e-01 1.04415688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.51, Y:11.93, Z:0.11 [[ 9.37619845e-01 -3.47638869e-01 -4.03037304e-03 7.15057681e+01] [ 3.47635815e-01 9.37628506e-01 -1.45748095e-03 1.19344851e+01] [ 4.28566968e-03 -3.45389524e-05 9.99990816e-01 1.05214301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:11.94, Z:0.10 [[ 9.36526237e-01 -3.50574336e-01 -4.03009164e-03 7.15332350e+01] [ 3.50571306e-01 9.36534907e-01 -1.45825862e-03 1.19417344e+01] [ 4.28554955e-03 -4.71370321e-05 9.99990816e-01 1.04626697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:11.95, Z:0.10 [[ 9.35990147e-01 -3.52003130e-01 -4.03000418e-03 7.15603908e+01] [ 3.52000113e-01 9.35998821e-01 -1.45850029e-03 1.19498251e+01] [ 4.28547583e-03 -5.34200313e-05 9.99990816e-01 1.03804939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:11.96, Z:0.10 [[ 9.35509472e-01 -3.53278627e-01 -4.02972643e-03 7.15860392e+01] [ 3.53275618e-01 9.35518150e-01 -1.45926728e-03 1.19573093e+01] [ 4.28541016e-03 -5.84457313e-05 9.99990816e-01 1.03778124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.978623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:71.61, Y:11.96, Z:0.10 [[ 9.34629723e-01 -3.55599556e-01 -4.02960596e-03 7.16137126e+01] [ 3.55596567e-01 9.34638407e-01 -1.45959989e-03 1.19629827e+01] [ 4.28525756e-03 -6.87286029e-05 9.99990816e-01 1.03203642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:11.97, Z:0.10 [[ 9.34271512e-01 -3.56539627e-01 -4.02933234e-03 7.16399566e+01] [ 3.56536644e-01 9.34280198e-01 -1.46035484e-03 1.19699773e+01] [ 4.28519979e-03 -7.22367026e-05 9.99990816e-01 1.02990546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.038623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.67, Y:11.98, Z:0.10 [[ 9.33867788e-01 -3.57595748e-01 -4.02921334e-03 7.16666828e+01] [ 3.57592773e-01 9.33876477e-01 -1.46068309e-03 1.19772033e+01] [ 4.28512162e-03 -7.67326826e-05 9.99990816e-01 1.02637907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:11.98, Z:0.10 [[ 9.33254607e-01 -3.59192994e-01 -4.02894147e-03 7.16949169e+01] [ 3.59190031e-01 9.33263299e-01 -1.46143261e-03 1.19817744e+01] [ 4.28499956e-03 -8.32668982e-05 9.99990816e-01 1.02612278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:11.99, Z:0.10 [[ 9.33041647e-01 -3.59745821e-01 -4.02866935e-03 7.17214464e+01] [ 3.59742859e-01 9.33050340e-01 -1.46218237e-03 1.19878279e+01] [ 4.28496530e-03 -8.50079864e-05 9.99990816e-01 1.02602046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.75, Y:11.99, Z:0.10 [[ 9.32800777e-01 -3.60369923e-01 -4.02848389e-03 7.17492105e+01] [ 3.60366965e-01 9.32809472e-01 -1.46269313e-03 1.19944644e+01] [ 4.28491854e-03 -8.73312272e-05 9.99990816e-01 1.02882505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:12.00, Z:0.10 [[ 9.32783685e-01 -3.60414165e-01 -4.02821437e-03 7.17775756e+01] [ 3.60411204e-01 9.32792379e-01 -1.46343502e-03 1.19972881e+01] [ 4.28493037e-03 -8.67452839e-05 9.99990816e-01 1.04161325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.80, Y:12.00, Z:0.10 [[ 9.32940058e-01 -3.60009199e-01 -4.02794240e-03 7.18049778e+01] [ 3.60006232e-01 9.32948750e-01 -1.46418319e-03 1.20036307e+01] [ 4.28498325e-03 -8.40892146e-05 9.99990816e-01 1.04941322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.83, Y:12.01, Z:0.11 [[ 9.33145335e-01 -3.59476789e-01 -4.02767016e-03 7.18323354e+01] [ 3.59473813e-01 9.33154023e-01 -1.46493168e-03 1.20099101e+01] [ 4.28504556e-03 -8.08477896e-05 9.99990816e-01 1.05145776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.86, Y:12.01, Z:0.11 [[ 9.33945867e-01 -3.57391797e-01 -4.02739851e-03 7.18600825e+01] [ 3.57388799e-01 9.33954548e-01 -1.46567813e-03 1.20129200e+01] [ 4.28522850e-03 -7.04830815e-05 9.99990816e-01 1.05602445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.278623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.89, Y:12.02, Z:0.11 [[ 9.34395009e-01 -3.56215872e-01 -4.02728020e-03 7.18873712e+01] [ 3.56212861e-01 9.34403686e-01 -1.46600314e-03 1.20201489e+01] [ 4.28531905e-03 -6.47429901e-05 9.99990816e-01 1.05701648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.92, Y:12.03, Z:0.11 [[ 9.35823159e-01 -3.52446874e-01 -4.02701026e-03 7.19156255e+01] [ 3.52443825e-01 9.35831822e-01 -1.46674427e-03 1.20251687e+01] [ 4.28555378e-03 -4.66816455e-05 9.99990816e-01 1.05835483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:12.03, Z:0.10 [[ 9.36681814e-01 -3.50158485e-01 -4.02672242e-03 7.19425712e+01] [ 3.50155411e-01 9.36690469e-01 -1.46753406e-03 1.20316066e+01] [ 4.28566202e-03 -3.53661816e-05 9.99990816e-01 1.04519048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.97, Y:12.04, Z:0.10 [[ 9.37642378e-01 -3.47578132e-01 -4.02663282e-03 7.19689957e+01] [ 3.47575033e-01 9.37651024e-01 -1.46777989e-03 1.20382428e+01] [ 4.28574457e-03 -2.33044120e-05 9.99990816e-01 1.03157481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:12.05, Z:0.10 [[ 9.38666583e-01 -3.44802603e-01 -4.02635417e-03 7.19964866e+01] [ 3.44799476e-01 9.38675218e-01 -1.46854385e-03 1.20457109e+01] [ 4.28579662e-03 -9.81177333e-06 9.99990816e-01 1.02813002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:12.05, Z:0.10 [[ 9.41239022e-01 -3.37717181e-01 -4.02607069e-03 7.20237590e+01] [ 3.37713985e-01 9.41247632e-01 -1.46932061e-03 1.20515073e+01] [ 4.28574432e-03 2.33215149e-05 9.99990816e-01 9.93616383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:12.06, Z:0.10 [[ 9.42458450e-01 -3.34299059e-01 -4.02598270e-03 7.20506940e+01] [ 3.34295831e-01 9.42467049e-01 -1.46956167e-03 1.20599581e+01] [ 4.28562912e-03 3.91315848e-05 9.99990816e-01 1.01826187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:12.07, Z:0.10 [[ 9.43737601e-01 -3.30670735e-01 -4.02570002e-03 7.20764262e+01] [ 3.30667471e-01 9.43746185e-01 -1.47033564e-03 1.20682518e+01] [ 4.28543600e-03 5.64429885e-05 9.99990816e-01 1.02600673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:12.08, Z:0.10 [[ 9.46142994e-01 -3.23724002e-01 -4.02550672e-03 7.21025544e+01] [ 3.23720672e-01 9.46151554e-01 -1.47086466e-03 1.20770164e+01] [ 4.28489364e-03 8.85085534e-05 9.99990816e-01 1.04329366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.13, Y:12.09, Z:0.11 [[ 9.46974773e-01 -3.21282702e-01 -4.02542004e-03 7.21289110e+01] [ 3.21279349e-01 9.46983324e-01 -1.47110185e-03 1.20866031e+01] [ 4.28464523e-03 9.98120146e-05 9.99990816e-01 1.06250656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.15, Y:12.10, Z:0.11 [[ 9.48080167e-01 -3.18005966e-01 -4.02513727e-03 7.21546523e+01] [ 3.18002581e-01 9.48088705e-01 -1.47187514e-03 1.20967353e+01] [ 4.28425226e-03 1.15451585e-04 9.99990816e-01 1.05227598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.18, Y:12.11, Z:0.11 [[ 9.48412999e-01 -3.17011960e-01 -4.02504961e-03 7.21802112e+01] [ 3.17008565e-01 9.48421532e-01 -1.47211481e-03 1.21069412e+01] [ 4.28412173e-03 1.20197621e-04 9.99990816e-01 1.05383190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:12.12, Z:0.11 [[ 9.48605749e-01 -3.16434722e-01 -4.02477586e-03 7.22053847e+01] [ 3.16431319e-01 9.48614280e-01 -1.47286289e-03 1.21169656e+01] [ 4.28402481e-03 1.23601070e-04 9.99990816e-01 1.05148583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:12.13, Z:0.10 [[ 9.48705889e-01 -3.16134367e-01 -4.02465718e-03 7.22303726e+01] [ 3.16130960e-01 9.48714418e-01 -1.47318711e-03 1.21268689e+01] [ 4.28397537e-03 1.25302549e-04 9.99990816e-01 1.04175647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:12.14, Z:0.11 [[ 9.48364248e-01 -3.17157779e-01 -4.02453916e-03 7.22562478e+01] [ 3.17154379e-01 9.48372779e-01 -1.47350945e-03 1.21374419e+01] [ 4.28409837e-03 1.21023458e-04 9.99990816e-01 1.05520826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.28, Y:12.15, Z:0.11 [[ 9.48029621e-01 -3.18156633e-01 -4.02427340e-03 7.22823359e+01] [ 3.18153239e-01 9.48038155e-01 -1.47423489e-03 1.21478709e+01] [ 4.28420234e-03 1.17282725e-04 9.99990816e-01 1.07116340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:12.16, Z:0.11 [[ 9.47538409e-01 -3.19616601e-01 -4.02399669e-03 7.23082701e+01] [ 3.19613217e-01 9.47546947e-01 -1.47498982e-03 1.21585732e+01] [ 4.28435701e-03 1.11486983e-04 9.99990816e-01 1.08099613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:72.33, Y:12.17, Z:0.11 [[ 9.46523541e-01 -3.22609664e-01 -4.02371773e-03 7.23338384e+01] [ 3.22606304e-01 9.46532089e-01 -1.47575040e-03 1.21696997e+01] [ 4.28466929e-03 9.87557876e-05 9.99990816e-01 1.13708330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:12.18, Z:0.11 [[ 9.46025151e-01 -3.24068241e-01 -4.02343675e-03 7.23590283e+01] [ 3.24064891e-01 9.46033703e-01 -1.47651607e-03 1.21804379e+01] [ 4.28479873e-03 9.29667503e-05 9.99990816e-01 1.08278112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:12.19, Z:0.11 [[ 9.44622000e-01 -3.28135781e-01 -4.02331423e-03 7.23842244e+01] [ 3.28132466e-01 9.44630565e-01 -1.47684986e-03 1.21916241e+01] [ 4.28515287e-03 7.48848466e-05 9.99990816e-01 1.08140319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.41, Y:12.20, Z:0.11 [[ 9.43699489e-01 -3.30779515e-01 -4.02322779e-03 7.24091118e+01] [ 3.30776223e-01 9.43708063e-01 -1.47708529e-03 1.22007735e+01] [ 4.28534206e-03 6.31365412e-05 9.99990816e-01 1.07992295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:12.21, Z:0.11 [[ 9.42695221e-01 -3.33630836e-01 -4.02310775e-03 7.24340223e+01] [ 3.33627569e-01 9.42703804e-01 -1.47741217e-03 1.22106176e+01] [ 4.28550924e-03 5.05297374e-05 9.99990816e-01 1.08315987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.46, Y:12.22, Z:0.11 [[ 9.40652438e-01 -3.39347619e-01 -4.02298839e-03 7.24588605e+01] [ 3.39344403e-01 9.40661040e-01 -1.47773712e-03 1.22220049e+01] [ 4.28573501e-03 2.48584293e-05 9.99990816e-01 1.07120076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:72.48, Y:12.23, Z:0.11 [[ 9.39579199e-01 -3.42307969e-01 -4.02280245e-03 7.24847867e+01] [ 3.42304777e-01 9.39587811e-01 -1.47824311e-03 1.22313745e+01] [ 4.28579055e-03 1.19019781e-05 9.99990816e-01 1.12707359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.51, Y:12.24, Z:0.11 [[ 9.38712301e-01 -3.44678161e-01 -4.02252410e-03 7.25109913e+01] [ 3.44674988e-01 9.38720920e-01 -1.47900017e-03 1.22409563e+01] [ 4.28580658e-03 1.89220783e-06 9.99990816e-01 1.06040767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:12.25, Z:0.10 [[ 9.37462102e-01 -3.48064116e-01 -4.02224723e-03 7.25376377e+01] [ 3.48060970e-01 9.37470731e-01 -1.47975275e-03 1.22504576e+01] [ 4.28578788e-03 -1.27751512e-05 9.99990816e-01 1.04360336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:12.26, Z:0.10 [[ 9.37043126e-01 -3.49190495e-01 -4.02216113e-03 7.25632845e+01] [ 3.49187359e-01 9.37051758e-01 -1.47998673e-03 1.22599514e+01] [ 4.28577046e-03 -1.76764287e-05 9.99990816e-01 1.04794331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.59, Y:12.27, Z:0.11 [[ 9.36743779e-01 -3.49992737e-01 -4.02197312e-03 7.25892642e+01] [ 3.49989607e-01 9.36752413e-01 -1.48049749e-03 1.22699608e+01] [ 4.28575640e-03 -2.08019787e-05 9.99990816e-01 1.05365414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.61, Y:12.28, Z:0.11 [[ 9.36835552e-01 -3.49747014e-01 -4.02169999e-03 7.26138718e+01] [ 3.49743878e-01 9.36844184e-01 -1.48123907e-03 1.22803044e+01] [ 4.28576519e-03 -1.88875316e-05 9.99990816e-01 1.05437639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:12.29, Z:0.10 [[ 9.37009077e-01 -3.49281860e-01 -4.02151317e-03 7.26394353e+01] [ 3.49278718e-01 9.37017706e-01 -1.48174610e-03 1.22904157e+01] [ 4.28577608e-03 -1.62194140e-05 9.99990816e-01 1.04500179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:12.30, Z:0.11 [[ 9.37514402e-01 -3.47923230e-01 -4.02139468e-03 7.26653318e+01] [ 3.47920074e-01 9.37523027e-01 -1.48206761e-03 1.23010721e+01] [ 4.28579586e-03 -9.66420674e-06 9.99990816e-01 1.06101411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:12.31, Z:0.11 [[ 9.37846260e-01 -3.47027698e-01 -4.02111291e-03 7.26901482e+01] [ 3.47024530e-01 9.37854880e-01 -1.48283170e-03 1.23111119e+01] [ 4.28580404e-03 -4.75665008e-06 9.99990816e-01 1.05118602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:12.32, Z:0.11 [[ 9.38099252e-01 -3.46343220e-01 -4.02099067e-03 7.27163516e+01] [ 3.46340044e-01 9.38107869e-01 -1.48316312e-03 1.23219230e+01] [ 4.28580648e-03 -1.27587514e-06 9.99990816e-01 1.05107682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.74, Y:12.33, Z:0.10 [[ 9.38296064e-01 -3.45809672e-01 -4.02072132e-03 7.27411600e+01] [ 3.45806488e-01 9.38304679e-01 -1.48389295e-03 1.23326864e+01] [ 4.28580616e-03 1.93939447e-06 9.99990816e-01 1.04263315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.77, Y:12.35, Z:0.10 [[ 9.38554635e-01 -3.45107276e-01 -4.02060412e-03 7.27677066e+01] [ 3.45104085e-01 9.38563247e-01 -1.48421042e-03 1.23451650e+01] [ 4.28580307e-03 5.48566809e-06 9.99990816e-01 1.03532619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:72.79, Y:12.36, Z:0.10 [[ 9.38812276e-01 -3.44405789e-01 -4.02036219e-03 7.27925832e+01] [ 3.44402588e-01 9.38820884e-01 -1.48486546e-03 1.23551013e+01] [ 4.28579625e-03 9.38677934e-06 9.99990816e-01 1.01433426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.82, Y:12.37, Z:0.10 [[ 9.39358218e-01 -3.42913949e-01 -4.02017371e-03 7.28193426e+01] [ 3.42910733e-01 9.39366820e-01 -1.48537558e-03 1.23672209e+01] [ 4.28577380e-03 1.67390446e-05 9.99990816e-01 1.04010713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:12.38, Z:0.10 [[ 9.39628769e-01 -3.42171912e-01 -4.01993534e-03 7.28450534e+01] [ 3.42168685e-01 9.39637368e-01 -1.48602042e-03 1.23781993e+01] [ 4.28575591e-03 2.08115468e-05 9.99990816e-01 1.03821598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:12.39, Z:0.11 [[ 9.39887783e-01 -3.41459803e-01 -4.01980779e-03 7.28702332e+01] [ 3.41456568e-01 9.39896379e-01 -1.48636537e-03 1.23895372e+01] [ 4.28573681e-03 2.44268780e-05 9.99990816e-01 1.06046938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:72.90, Y:12.40, Z:0.11 [[ 9.40348822e-01 -3.40188091e-01 -4.01953779e-03 7.28953780e+01] [ 3.40184842e-01 9.40357412e-01 -1.48709515e-03 1.24019740e+01] [ 4.28569422e-03 3.10023469e-05 9.99990816e-01 1.13724865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.478623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:72.92, Y:12.41, Z:0.11 [[ 9.40596136e-01 -3.39503685e-01 -4.01945381e-03 7.29206707e+01] [ 3.39500429e-01 9.40604724e-01 -1.48732212e-03 1.24130086e+01] [ 4.28566858e-03 3.43631502e-05 9.99990816e-01 1.08002599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:72.95, Y:12.42, Z:0.11 [[ 9.40592817e-01 -3.39512882e-01 -4.01937044e-03 7.29460354e+01] [ 3.39509625e-01 9.40601404e-01 -1.48754740e-03 1.24245414e+01] [ 4.28566698e-03 3.45614478e-05 9.99990816e-01 1.08744267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.538623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:72.97, Y:12.44, Z:0.11 [[ 9.40549807e-01 -3.39632017e-01 -4.01911401e-03 7.29704683e+01] [ 3.39628758e-01 9.40558394e-01 -1.48823988e-03 1.24377526e+01] [ 4.28566533e-03 3.47570358e-05 9.99990816e-01 1.10046464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:73.00, Y:12.45, Z:0.12 [[ 9.40221151e-01 -3.40540799e-01 -4.01884960e-03 7.29962652e+01] [ 3.40537545e-01 9.40229740e-01 -1.48895357e-03 1.24488956e+01] [ 4.28569135e-03 3.13764631e-05 9.99990816e-01 1.15885379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.598623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:73.02, Y:12.46, Z:0.11 [[ 9.39328033e-01 -3.42996643e-01 -4.01858238e-03 7.30213418e+01] [ 3.42993409e-01 9.39336629e-01 -1.48967443e-03 1.24598076e+01] [ 4.28575495e-03 2.09456851e-05 9.99990816e-01 1.13259080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62862385300001 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:73.05, Y:12.47, Z:0.11 [[ 9.39267823e-01 -3.43161492e-01 -4.01839945e-03 7.30479783e+01] [ 3.43158257e-01 9.39276418e-01 -1.49016772e-03 1.24699128e+01] [ 4.28575602e-03 2.07196449e-05 9.99990816e-01 1.13381157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65862385300001 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:73.07, Y:12.48, Z:0.11 [[ 9.38678876e-01 -3.44769230e-01 -4.01813780e-03 7.30742008e+01] [ 3.44766007e-01 9.38687476e-01 -1.49087291e-03 1.24809551e+01] [ 4.28578273e-03 1.41335872e-05 9.99990816e-01 1.07763574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:73.10, Y:12.49, Z:0.11 [[ 9.37987065e-01 -3.46646972e-01 -4.01787672e-03 7.31006007e+01] [ 3.46643763e-01 9.37995670e-01 -1.49157618e-03 1.24917142e+01] [ 4.28580133e-03 6.30725816e-06 9.99990816e-01 1.06518910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:73.13, Y:12.50, Z:0.10 [[ 9.36646158e-01 -3.50253956e-01 -4.01763220e-03 7.31265490e+01] [ 3.50250777e-01 9.36654774e-01 -1.49223453e-03 1.25028576e+01] [ 4.28579542e-03 -9.48306507e-06 9.99990816e-01 1.03624719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74862385300001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:73.15, Y:12.51, Z:0.11 [[ 9.35807141e-01 -3.52489509e-01 -4.01755134e-03 7.31527645e+01] [ 3.52486350e-01 9.35815765e-01 -1.49245217e-03 1.25139921e+01] [ 4.28576162e-03 -1.94846112e-05 9.99990816e-01 1.09191133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.778623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:73.18, Y:12.52, Z:0.10 [[ 9.35246088e-01 -3.53975447e-01 -4.01729417e-03 7.31788645e+01] [ 3.53972299e-01 9.35254715e-01 -1.49314409e-03 1.25245745e+01] [ 4.28572966e-03 -2.55536867e-05 9.99990816e-01 1.04853944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:73.21, Y:12.53, Z:0.11 [[ 9.34142328e-01 -3.56878094e-01 -4.01703569e-03 7.32053606e+01] [ 3.56874970e-01 9.34150964e-01 -1.49383918e-03 1.25341230e+01] [ 4.28563624e-03 -3.81210788e-05 9.99990816e-01 1.07466934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.838623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:73.23, Y:12.54, Z:0.11 [[ 9.33784062e-01 -3.57814464e-01 -4.01674908e-03 7.32303096e+01] [ 3.57811345e-01 9.33792701e-01 -1.49460944e-03 1.25431396e+01] [ 4.28560384e-03 -4.15959171e-05 9.99990816e-01 1.08443811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.868623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:73.26, Y:12.55, Z:0.11 [[ 9.33294694e-01 -3.59088960e-01 -4.01655357e-03 7.32565819e+01] [ 3.59085850e-01 9.33303336e-01 -1.49513466e-03 1.25528488e+01] [ 4.28554919e-03 -4.68863034e-05 9.99990816e-01 1.09258998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.898623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:73.28, Y:12.56, Z:0.12 [[ 9.32573651e-01 -3.60957414e-01 -4.01627127e-03 7.32815137e+01] [ 3.60954318e-01 9.32582298e-01 -1.49589259e-03 1.25617908e+01] [ 4.28545701e-03 -5.46604402e-05 9.99990816e-01 1.15441178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928623853 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:73.31, Y:12.57, Z:0.12 [[ 9.32313679e-01 -3.61628365e-01 -4.01607986e-03 7.33077473e+01] [ 3.61625274e-01 9.32322327e-01 -1.49640631e-03 1.25719179e+01] [ 4.28542389e-03 -5.71959080e-05 9.99990816e-01 1.17050919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.958623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:73.33, Y:12.58, Z:0.11 [[ 9.32496740e-01 -3.61156066e-01 -4.01579909e-03 7.33336044e+01] [ 3.61152967e-01 9.32505385e-01 -1.49715939e-03 1.25812451e+01] [ 4.28546248e-03 -5.42215016e-05 9.99990816e-01 1.09365915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:73.36, Y:12.59, Z:0.11 [[ 9.32717143e-01 -3.60586475e-01 -4.01571176e-03 7.33597703e+01] [ 3.60583370e-01 9.32725786e-01 -1.49739361e-03 1.25906583e+01] [ 4.28549779e-03 -5.13541830e-05 9.99990816e-01 1.12960893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01862385300001 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:73.38, Y:12.60, Z:0.11 [[ 9.33047118e-01 -3.59731779e-01 -4.01541751e-03 7.33847807e+01] [ 3.59728662e-01 9.33055757e-01 -1.49818226e-03 1.26000854e+01] [ 4.28555219e-03 -4.65861293e-05 9.99990816e-01 1.13000566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04862385300001 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:73.41, Y:12.61, Z:0.11 [[ 9.33439855e-01 -3.58711464e-01 -4.01521604e-03 7.34108001e+01] [ 3.58708336e-01 9.33448490e-01 -1.49872202e-03 1.26101074e+01] [ 4.28560612e-03 -4.13245984e-05 9.99990816e-01 1.12849213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07862385300001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:73.44, Y:12.62, Z:0.11 [[ 9.34350406e-01 -3.56332990e-01 -4.01492350e-03 7.34365604e+01] [ 3.56329836e-01 9.34359031e-01 -1.49950529e-03 1.26213442e+01] [ 4.28570323e-03 -2.95736548e-05 9.99990816e-01 1.09536915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10862385300001 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:73.46, Y:12.63, Z:0.11 [[ 9.34887341e-01 -3.54921879e-01 -4.01483234e-03 7.34626333e+01] [ 3.54918711e-01 9.34895962e-01 -1.49974933e-03 1.26314323e+01] [ 4.28574439e-03 -2.28424579e-05 9.99990816e-01 1.09420698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13862385300001 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:73.49, Y:12.64, Z:0.11 [[ 9.35347146e-01 -3.53708355e-01 -4.01455170e-03 7.34888915e+01] [ 3.53705173e-01 9.35355761e-01 -1.50050016e-03 1.26416680e+01] [ 4.28577350e-03 -1.64791556e-05 9.99990816e-01 1.10558302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:73.51, Y:12.65, Z:0.12 [[ 9.36300033e-01 -3.51178207e-01 -4.01425734e-03 7.35143806e+01] [ 3.51174998e-01 9.36308639e-01 -1.50128724e-03 1.26518534e+01] [ 4.28580319e-03 -4.05152317e-06 9.99990816e-01 1.15607122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.198623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:73.54, Y:12.66, Z:0.11 [[ 9.36819580e-01 -3.49789883e-01 -4.01412932e-03 7.35399671e+01] [ 3.49786660e-01 9.36828179e-01 -1.50162948e-03 1.26619077e+01] [ 4.28580426e-03 2.66701214e-06 9.99990816e-01 1.09276109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:73.57, Y:12.67, Z:0.11 [[ 9.37190938e-01 -3.48793683e-01 -4.01403922e-03 7.35660481e+01] [ 3.48790449e-01 9.37199534e-01 -1.50187027e-03 1.26725971e+01] [ 4.28579855e-03 7.48066218e-06 9.99990816e-01 1.14930327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.258623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:73.59, Y:12.68, Z:0.11 [[ 9.38221614e-01 -3.46011696e-01 -4.01376695e-03 7.35916548e+01] [ 3.46008434e-01 9.38230199e-01 -1.50259758e-03 1.26846563e+01] [ 4.28575370e-03 2.09723085e-05 9.99990816e-01 1.10534485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:73.62, Y:12.70, Z:0.11 [[ 9.38663635e-01 -3.44810776e-01 -4.01368238e-03 7.36172956e+01] [ 3.44807502e-01 9.38672216e-01 -1.50282344e-03 1.26959668e+01] [ 4.28572185e-03 2.66979190e-05 9.99990816e-01 1.10192366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.318623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:73.64, Y:12.71, Z:0.11 [[ 9.39126629e-01 -3.43547765e-01 -4.01341446e-03 7.36421497e+01] [ 3.43544476e-01 9.39135205e-01 -1.50353859e-03 1.27067234e+01] [ 4.28567613e-03 3.32267557e-05 9.99990816e-01 1.09741263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:73.67, Y:12.72, Z:0.11 [[ 9.39919070e-01 -3.41373746e-01 -4.01329806e-03 7.36673876e+01] [ 3.41370436e-01 9.39927637e-01 -1.50384925e-03 1.27194670e+01] [ 4.28558441e-03 4.34752765e-05 9.99990816e-01 1.09961699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:73.69, Y:12.73, Z:0.11 [[ 9.40234268e-01 -3.40504650e-01 -4.01301754e-03 7.36922852e+01] [ 3.40501329e-01 9.40242831e-01 -1.50459742e-03 1.27311526e+01] [ 4.28553339e-03 4.82362522e-05 9.99990816e-01 1.07984150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40862385300001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:73.72, Y:12.74, Z:0.11 [[ 9.40475543e-01 -3.39837682e-01 -4.01289545e-03 7.37178040e+01] [ 3.39834354e-01 9.40484103e-01 -1.50492299e-03 1.27426882e+01] [ 4.28549391e-03 5.16235325e-05 9.99990816e-01 1.08458366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:73.74, Y:12.76, Z:0.11 [[ 9.40815570e-01 -3.38895207e-01 -4.01263453e-03 7.37428418e+01] [ 3.38891867e-01 9.40824126e-01 -1.50561836e-03 1.27569653e+01] [ 4.28543022e-03 5.66599904e-05 9.99990816e-01 1.14813762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46862385300001 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:73.77, Y:12.77, Z:0.12 [[ 9.40897387e-01 -3.38667990e-01 -4.01237908e-03 7.37678358e+01] [ 3.38664645e-01 9.40905941e-01 -1.50629882e-03 1.27698565e+01] [ 4.28540650e-03 5.84216903e-05 9.99990816e-01 1.16155369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:73.79, Y:12.78, Z:0.12 [[ 9.40965384e-01 -3.38479021e-01 -4.01228824e-03 7.37923774e+01] [ 3.38475674e-01 9.40973936e-01 -1.50654075e-03 1.27825654e+01] [ 4.28539109e-03 5.95407324e-05 9.99990816e-01 1.15839068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:73.82, Y:12.80, Z:0.12 [[ 9.40930214e-01 -3.38576778e-01 -4.01220024e-03 7.38171028e+01] [ 3.38573431e-01 9.40938766e-01 -1.50677506e-03 1.27953541e+01] [ 4.28539379e-03 5.93457742e-05 9.99990816e-01 1.18064032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.558623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:73.84, Y:12.81, Z:0.12 [[ 9.40621278e-01 -3.39434111e-01 -4.01191657e-03 7.38411686e+01] [ 3.39430768e-01 9.40629832e-01 -1.50753000e-03 1.28102840e+01] [ 4.28543551e-03 5.62468708e-05 9.99990816e-01 1.18655933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:73.87, Y:12.82, Z:0.12 [[ 9.40286725e-01 -3.40359779e-01 -4.01182855e-03 7.38663360e+01] [ 3.40356444e-01 9.40295282e-01 -1.50776420e-03 1.28222516e+01] [ 4.28548574e-03 5.22789640e-05 9.99990816e-01 1.18242711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.618623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:73.89, Y:12.83, Z:0.12 [[ 9.39777660e-01 -3.41762866e-01 -4.01154741e-03 7.38917991e+01] [ 3.41759540e-01 9.39786221e-01 -1.50851180e-03 1.28345111e+01] [ 4.28555030e-03 4.66810937e-05 9.99990816e-01 1.17291105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:73.92, Y:12.85, Z:0.11 [[ 9.38661703e-01 -3.44816062e-01 -4.01126149e-03 7.39171075e+01] [ 3.44812761e-01 9.38670273e-01 -1.50927171e-03 1.28491521e+01] [ 4.28567305e-03 3.35614008e-05 9.99990816e-01 1.14978150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.678623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:73.94, Y:12.86, Z:0.11 [[ 9.37976422e-01 -3.46675848e-01 -4.01100648e-03 7.39419344e+01] [ 3.46672561e-01 9.37984998e-01 -1.50994911e-03 1.28617077e+01] [ 4.28572680e-03 2.57907769e-05 9.99990816e-01 1.14347012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708623853 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:73.97, Y:12.88, Z:0.12 [[ 9.36598459e-01 -3.50381565e-01 -4.01071362e-03 7.39661853e+01] [ 3.50378308e-01 9.36607046e-01 -1.51072662e-03 1.28779985e+01] [ 4.28579339e-03 9.67717571e-06 9.99990816e-01 1.17264161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.738623853 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:73.99, Y:12.89, Z:0.12 [[ 9.35926501e-01 -3.52172545e-01 -4.01042072e-03 7.39902440e+01] [ 3.52169301e-01 9.35935093e-01 -1.51150376e-03 1.28897269e+01] [ 4.28580361e-03 2.30935768e-06 9.99990816e-01 1.19330843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76862385300001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:74.02, Y:12.90, Z:0.12 [[ 9.35188241e-01 -3.54128325e-01 -4.01029341e-03 7.40163843e+01] [ 3.54125098e-01 9.35196840e-01 -1.51184146e-03 1.29020402e+01] [ 4.28579961e-03 -6.28918778e-06 9.99990816e-01 1.15815459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79862385300001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:74.04, Y:12.91, Z:0.12 [[ 9.33725682e-01 -3.57966856e-01 -4.01004068e-03 7.40413408e+01] [ 3.57963661e-01 9.33734293e-01 -1.51251150e-03 1.29141903e+01] [ 4.28574149e-03 -2.31780127e-05 9.99990816e-01 1.17909433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82862385300001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:74.07, Y:12.93, Z:0.12 [[ 9.32824180e-01 -3.60309546e-01 -4.00995114e-03 7.40668182e+01] [ 3.60306372e-01 9.32832798e-01 -1.51274885e-03 1.29258816e+01] [ 4.28567180e-03 -3.36822452e-05 9.99990816e-01 1.19270102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:74.09, Y:12.94, Z:0.12 [[ 9.32003726e-01 -3.62426513e-01 -4.00966526e-03 7.40923993e+01] [ 3.62423355e-01 9.32012350e-01 -1.51350621e-03 1.29378263e+01] [ 4.28559233e-03 -4.26029113e-05 9.99990816e-01 1.19221005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88862385300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:74.12, Y:12.95, Z:0.12 [[ 9.30484335e-01 -3.66309741e-01 -4.00938113e-03 7.41172456e+01] [ 3.66306616e-01 9.30492971e-01 -1.51425852e-03 1.29512150e+01] [ 4.28538861e-03 -5.96690017e-05 9.99990816e-01 1.20696257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.918623853 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:74.14, Y:12.96, Z:0.12 [[ 9.29730067e-01 -3.68219945e-01 -4.00929300e-03 7.41433949e+01] [ 3.68216837e-01 9.29738709e-01 -1.51449182e-03 1.29624530e+01] [ 4.28526100e-03 -6.82206038e-05 9.99990816e-01 1.16660363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948623853 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:74.17, Y:12.97, Z:0.12 [[ 9.28999458e-01 -3.70059365e-01 -4.00901653e-03 7.41689016e+01] [ 3.70056271e-01 9.29008106e-01 -1.51522333e-03 1.29731753e+01] [ 4.28513143e-03 -7.59200502e-05 9.99990816e-01 1.17096523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.978623853 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:74.19, Y:12.98, Z:0.12 [[ 9.27883229e-01 -3.72849357e-01 -4.00872453e-03 7.41944869e+01] [ 3.72846285e-01 9.27891884e-01 -1.51599546e-03 1.29843334e+01] [ 4.28490089e-03 -8.79712901e-05 9.99990816e-01 1.16057885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:74.22, Y:12.99, Z:0.11 [[ 9.27538874e-01 -3.73705191e-01 -4.00843098e-03 7.42198632e+01] [ 3.73702124e-01 9.27547531e-01 -1.51677122e-03 1.29949181e+01] [ 4.28483554e-03 -9.10948999e-05 9.99990816e-01 1.14773308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.038623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:74.24, Y:13.01, Z:0.11 [[ 9.27302631e-01 -3.74291015e-01 -4.00830346e-03 7.42438728e+01] [ 3.74287952e-01 9.27311289e-01 -1.51710814e-03 1.30066050e+01] [ 4.28478500e-03 -9.34413226e-05 9.99990816e-01 1.14062157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:74.27, Y:13.02, Z:0.12 [[ 9.27279775e-01 -3.74347637e-01 -4.00818133e-03 7.42697141e+01] [ 3.74344573e-01 9.27288433e-01 -1.51743075e-03 1.30173568e+01] [ 4.28478680e-03 -9.33580805e-05 9.99990816e-01 1.15050922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.098623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:74.30, Y:13.03, Z:0.11 [[ 9.27365193e-01 -3.74135985e-01 -4.00789497e-03 7.42958595e+01] [ 3.74132916e-01 9.27373849e-01 -1.51818673e-03 1.30272099e+01] [ 4.28482527e-03 -9.15719047e-05 9.99990816e-01 1.13703679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12862385300001 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:74.32, Y:13.04, Z:0.11 [[ 9.27459511e-01 -3.73902118e-01 -4.00780579e-03 7.43207572e+01] [ 3.73899046e-01 9.27468166e-01 -1.51842210e-03 1.30367794e+01] [ 4.28485352e-03 -9.02397462e-05 9.99990816e-01 1.14261661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15862385300001 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:74.35, Y:13.05, Z:0.12 [[ 9.27728397e-01 -3.73234456e-01 -4.00768573e-03 7.43472081e+01] [ 3.73231376e-01 9.27737050e-01 -1.51873893e-03 1.30479753e+01] [ 4.28492423e-03 -8.68168240e-05 9.99990816e-01 1.17503145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18862385300001 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:74.37, Y:13.06, Z:0.12 [[ 9.27670468e-01 -3.73378417e-01 -4.00742872e-03 7.43722491e+01] [ 3.73375336e-01 9.27679120e-01 -1.51941677e-03 1.30586314e+01] [ 4.28492538e-03 -8.67569775e-05 9.99990816e-01 1.16879426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21862385300001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:74.40, Y:13.07, Z:0.12 [[ 9.27685638e-01 -3.73340729e-01 -4.00722848e-03 7.43979216e+01] [ 3.73337644e-01 9.27694289e-01 -1.51994470e-03 1.30686659e+01] [ 4.28494023e-03 -8.60183703e-05 9.99990816e-01 1.16601315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24862385300001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:74.42, Y:13.08, Z:0.12 [[ 9.27775928e-01 -3.73116297e-01 -4.00694638e-03 7.44244190e+01] [ 3.73113208e-01 9.27784577e-01 -1.52068802e-03 1.30789018e+01] [ 4.28497654e-03 -8.41868768e-05 9.99990816e-01 1.17126244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.278623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:74.45, Y:13.09, Z:0.12 [[ 9.27861900e-01 -3.72902455e-01 -4.00666125e-03 7.44498276e+01] [ 3.72899360e-01 9.27870547e-01 -1.52143890e-03 1.30883683e+01] [ 4.28501127e-03 -8.23962266e-05 9.99990816e-01 1.15941371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:74.48, Y:13.10, Z:0.12 [[ 9.28213964e-01 -3.72025246e-01 -4.00653749e-03 7.44770037e+01] [ 3.72022142e-01 9.28222608e-01 -1.52176473e-03 1.30989851e+01] [ 4.28509358e-03 -7.79973895e-05 9.99990816e-01 1.18691827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.338623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:74.50, Y:13.11, Z:0.12 [[ 9.28453224e-01 -3.71427732e-01 -4.00629036e-03 7.45031223e+01] [ 3.71424620e-01 9.28461865e-01 -1.52241506e-03 1.31101634e+01] [ 4.28515499e-03 -7.45436999e-05 9.99990816e-01 1.20018975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.368623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:74.53, Y:13.12, Z:0.12 [[ 9.28674818e-01 -3.70873340e-01 -4.00600894e-03 7.45291979e+01] [ 3.70870219e-01 9.28683455e-01 -1.52315523e-03 1.31209817e+01] [ 4.28521189e-03 -7.11935122e-05 9.99990816e-01 1.20878256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.398623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:74.56, Y:13.13, Z:0.12 [[ 9.29191499e-01 -3.69576937e-01 -4.00572844e-03 7.45551288e+01] [ 3.69573801e-01 9.29200131e-01 -1.52389256e-03 1.31304486e+01] [ 4.28531893e-03 -6.44242723e-05 9.99990816e-01 1.21976236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:74.58, Y:13.14, Z:0.12 [[ 9.29310784e-01 -3.69276892e-01 -4.00544615e-03 7.45801527e+01] [ 3.69273750e-01 9.29319414e-01 -1.52463417e-03 1.31394686e+01] [ 4.28535104e-03 -6.22471488e-05 9.99990816e-01 1.21329267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.458623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:74.61, Y:13.15, Z:0.12 [[ 9.29358947e-01 -3.69155664e-01 -4.00532327e-03 7.46067488e+01] [ 3.69152519e-01 9.29367576e-01 -1.52495692e-03 1.31494394e+01] [ 4.28536406e-03 -6.13428181e-05 9.99990816e-01 1.23061562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:74.63, Y:13.16, Z:0.12 [[ 9.29263704e-01 -3.69395354e-01 -4.00504594e-03 7.46331312e+01] [ 3.69392209e-01 9.29272333e-01 -1.52568494e-03 1.31597035e+01] [ 4.28535931e-03 -6.16691295e-05 9.99990816e-01 1.23502422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51862385300001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:74.66, Y:13.17, Z:0.12 [[ 9.28816956e-01 -3.70517239e-01 -4.00476935e-03 7.46596054e+01] [ 3.70514100e-01 9.28825587e-01 -1.52641061e-03 1.31685683e+01] [ 4.28529369e-03 -6.60674529e-05 9.99990816e-01 1.23461806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54862385300001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:74.69, Y:13.18, Z:0.12 [[ 9.28747491e-01 -3.70691330e-01 -4.00448249e-03 7.46861465e+01] [ 3.70688190e-01 9.28756122e-01 -1.52716280e-03 1.31788838e+01] [ 4.28529364e-03 -6.60657465e-05 9.99990816e-01 1.23583879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:74.71, Y:13.19, Z:0.12 [[ 9.28539312e-01 -3.71212489e-01 -4.00419610e-03 7.47114950e+01] [ 3.71209351e-01 9.28547943e-01 -1.52791335e-03 1.31875874e+01] [ 4.28526857e-03 -6.76674283e-05 9.99990816e-01 1.23191868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60862385300001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:74.74, Y:13.20, Z:0.12 [[ 9.28323913e-01 -3.71750832e-01 -4.00407163e-03 7.47373759e+01] [ 3.71747697e-01 9.28332545e-01 -1.52823946e-03 1.31961911e+01] [ 4.28523430e-03 -6.98031727e-05 9.99990816e-01 1.23054458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63862385300001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:74.76, Y:13.21, Z:0.13 [[ 9.28310635e-01 -3.71783986e-01 -4.00395301e-03 7.47632874e+01] [ 3.71780851e-01 9.28319268e-01 -1.52855018e-03 1.32053887e+01] [ 4.28523720e-03 -6.96236647e-05 9.99990816e-01 1.28706700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:74.79, Y:13.21, Z:0.12 [[ 9.28380212e-01 -3.71610216e-01 -4.00368291e-03 7.47891693e+01] [ 3.71607076e-01 9.28388842e-01 -1.52925731e-03 1.32139829e+01] [ 4.28526218e-03 -6.80646761e-05 9.99990816e-01 1.22888683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.698623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:74.82, Y:13.22, Z:0.12 [[ 9.28755693e-01 -3.70670791e-01 -4.00349827e-03 7.48151076e+01] [ 3.70667640e-01 9.28764319e-01 -1.52974053e-03 1.32220554e+01] [ 4.28533648e-03 -6.32120279e-05 9.99990816e-01 1.22205855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:74.84, Y:13.23, Z:0.12 [[ 9.28997065e-01 -3.70065436e-01 -4.00331552e-03 7.48409010e+01] [ 3.70062277e-01 9.29005689e-01 -1.53021863e-03 1.32319375e+01] [ 4.28538392e-03 -5.99074387e-05 9.99990816e-01 1.22715222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.758623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:74.87, Y:13.24, Z:0.12 [[ 9.29287385e-01 -3.69335798e-01 -4.00304988e-03 7.48673373e+01] [ 3.69332629e-01 9.29296005e-01 -1.53091324e-03 1.32425150e+01] [ 4.28543933e-03 -5.57985781e-05 9.99990816e-01 1.23152180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:74.89, Y:13.25, Z:0.12 [[ 9.30088437e-01 -3.67313866e-01 -4.00276019e-03 7.48924620e+01] [ 3.67310676e-01 9.30097050e-01 -1.53167029e-03 1.32512050e+01] [ 4.28555918e-03 -4.56677275e-05 9.99990816e-01 1.22677509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.818623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:74.92, Y:13.26, Z:0.12 [[ 9.30458837e-01 -3.66374578e-01 -4.00263430e-03 7.49185679e+01] [ 3.66371377e-01 9.30467445e-01 -1.53199921e-03 1.32608233e+01] [ 4.28560648e-03 -4.09884386e-05 9.99990816e-01 1.23580389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:74.94, Y:13.27, Z:0.12 [[ 9.30972289e-01 -3.65067909e-01 -4.00234150e-03 7.49443396e+01] [ 3.65064693e-01 9.30980892e-01 -1.53276377e-03 1.32702173e+01] [ 4.28566632e-03 -3.41529715e-05 9.99990816e-01 1.23966156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.97, Y:13.28, Z:0.12 [[ 9.31961204e-01 -3.62535924e-01 -4.00221430e-03 7.49699682e+01] [ 3.62532683e-01 9.31969798e-01 -1.53309582e-03 1.32788352e+01] [ 4.28574516e-03 -2.21476587e-05 9.99990816e-01 1.23912263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.00, Y:13.29, Z:0.12 [[ 9.32370583e-01 -3.61481783e-01 -4.00201621e-03 7.49958453e+01] [ 3.61478530e-01 9.32379172e-01 -1.53361275e-03 1.32886516e+01] [ 4.28576963e-03 -1.67475254e-05 9.99990816e-01 1.23880944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:75.02, Y:13.30, Z:0.12 [[ 9.32690602e-01 -3.60655274e-01 -4.00175564e-03 7.50222562e+01] [ 3.60652011e-01 9.32699187e-01 -1.53429238e-03 1.32988026e+01] [ 4.28578487e-03 -1.22211309e-05 9.99990816e-01 1.24529264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:75.05, Y:13.31, Z:0.12 [[ 9.33359417e-01 -3.58920865e-01 -4.00146986e-03 7.50477966e+01] [ 3.58917582e-01 9.33367994e-01 -1.53503733e-03 1.33093378e+01] [ 4.28580082e-03 -3.45634470e-06 9.99990816e-01 1.23720664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99862385300001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:75.07, Y:13.32, Z:0.12 [[ 9.33650764e-01 -3.58162313e-01 -4.00118460e-03 7.50729830e+01] [ 3.58159020e-01 9.33659337e-01 -1.53578053e-03 1.33190367e+01] [ 4.28580207e-03 8.22310339e-07 9.99990816e-01 1.22594403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028623853 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:75.10, Y:13.33, Z:0.12 [[ 9.33842878e-01 -3.57661113e-01 -4.00106037e-03 7.50999714e+01] [ 3.57657814e-01 9.33851449e-01 -1.53610410e-03 1.33277985e+01] [ 4.28580073e-03 3.46936432e-06 9.99990816e-01 1.23720063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.058623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:75.13, Y:13.34, Z:0.12 [[ 9.33732630e-01 -3.57948837e-01 -4.00078053e-03 7.51257147e+01] [ 3.57945538e-01 9.33741201e-01 -1.53683260e-03 1.33376171e+01] [ 4.28580106e-03 2.92921166e-06 9.99990816e-01 1.23993442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:75.15, Y:13.35, Z:0.12 [[ 9.33602048e-01 -3.58289284e-01 -4.00049108e-03 7.51509224e+01] [ 3.58285985e-01 9.33610619e-01 -1.53758570e-03 1.33481776e+01] [ 4.28580143e-03 2.17327092e-06 9.99990816e-01 1.23652649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.118623853 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:75.18, Y:13.36, Z:0.13 [[ 9.33375064e-01 -3.58880187e-01 -4.00029369e-03 7.51769928e+01] [ 3.58876891e-01 9.33383636e-01 -1.53809905e-03 1.33589501e+01] [ 4.28580195e-03 1.03365379e-08 9.99990816e-01 1.29586854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:75.20, Y:13.37, Z:0.12 [[ 9.32846320e-01 -3.60252333e-01 -4.00000453e-03 7.52036811e+01] [ 3.60249046e-01 9.32854896e-01 -1.53885070e-03 1.33680844e+01] [ 4.28579836e-03 -5.48660105e-06 9.99990816e-01 1.23597382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.178623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:75.23, Y:13.38, Z:0.12 [[ 9.32441649e-01 -3.61298452e-01 -3.99991457e-03 7.52286765e+01] [ 3.61295174e-01 9.32450228e-01 -1.53908450e-03 1.33769198e+01] [ 4.28579010e-03 -1.00433441e-05 9.99990816e-01 1.24099691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:75.25, Y:13.39, Z:0.12 [[ 9.31909510e-01 -3.62668812e-01 -3.99979022e-03 7.52537045e+01] [ 3.62665545e-01 9.31918093e-01 -1.53940757e-03 1.33857919e+01] [ 4.28577199e-03 -1.59975492e-05 9.99990816e-01 1.23825230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.238623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:75.28, Y:13.39, Z:0.12 [[ 9.30749080e-01 -3.65636642e-01 -3.99959623e-03 7.52802717e+01] [ 3.65633400e-01 9.30757673e-01 -1.53991144e-03 1.33939130e+01] [ 4.28570292e-03 -2.91148120e-05 9.99990816e-01 1.24688954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:75.31, Y:13.40, Z:0.12 [[ 9.30223855e-01 -3.66970823e-01 -3.99931207e-03 7.53064792e+01] [ 3.66967591e-01 9.30232452e-01 -1.54064906e-03 1.34030600e+01] [ 4.28566313e-03 -3.44694038e-05 9.99990816e-01 1.24990436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:75.33, Y:13.41, Z:0.13 [[ 9.29556350e-01 -3.68658377e-01 -3.99903022e-03 7.53329091e+01] [ 3.68655157e-01 9.29564952e-01 -1.54138031e-03 1.34114009e+01] [ 4.28560110e-03 -4.14632569e-05 9.99990816e-01 1.26070896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.36, Y:13.42, Z:0.13 [[ 9.29349267e-01 -3.69180104e-01 -3.99873982e-03 7.53596552e+01] [ 3.69176886e-01 9.29357869e-01 -1.54213333e-03 1.34206336e+01] [ 4.28558526e-03 -4.30618355e-05 9.99990816e-01 1.26927853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:75.39, Y:13.43, Z:0.13 [[ 9.29319046e-01 -3.69256176e-01 -3.99845413e-03 7.53852491e+01] [ 3.69252956e-01 9.29327646e-01 -1.54287369e-03 1.34288907e+01] [ 4.28558961e-03 -4.26190970e-05 9.99990816e-01 1.26433832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:75.41, Y:13.44, Z:0.13 [[ 9.29552309e-01 -3.68668574e-01 -3.99832095e-03 7.54119708e+01] [ 3.68665347e-01 9.29560907e-01 -1.54321876e-03 1.34363438e+01] [ 4.28561911e-03 -3.95398174e-05 9.99990816e-01 1.26126462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.418623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:75.44, Y:13.45, Z:0.13 [[ 9.29779842e-01 -3.68094364e-01 -3.99804622e-03 7.54383383e+01] [ 3.68091128e-01 9.29788437e-01 -1.54393018e-03 1.34452076e+01] [ 4.28564914e-03 -3.61301840e-05 9.99990816e-01 1.26285937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:75.46, Y:13.45, Z:0.13 [[ 9.30050206e-01 -3.67410713e-01 -3.99775628e-03 7.54643941e+01] [ 3.67407468e-01 9.30058797e-01 -1.54468056e-03 1.34541866e+01] [ 4.28568059e-03 -3.21750431e-05 9.99990816e-01 1.26463471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.478623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:75.49, Y:13.46, Z:0.13 [[ 9.30401864e-01 -3.66519293e-01 -3.99745956e-03 7.54897423e+01] [ 3.66516036e-01 9.30410451e-01 -1.54544807e-03 1.34633460e+01] [ 4.28571468e-03 -2.72452598e-05 9.99990816e-01 1.25750838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:75.52, Y:13.47, Z:0.13 [[ 9.31267499e-01 -3.64314242e-01 -3.99725723e-03 7.55164052e+01] [ 3.64310962e-01 9.31276078e-01 -1.54597121e-03 1.34732608e+01] [ 4.28576936e-03 -1.65318848e-05 9.99990816e-01 1.25401270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.538623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:75.54, Y:13.48, Z:0.12 [[ 9.31641869e-01 -3.63355820e-01 -3.99695766e-03 7.55420479e+01] [ 3.63352528e-01 9.31650443e-01 -1.54674534e-03 1.34823264e+01] [ 4.28578629e-03 -1.12919493e-05 9.99990816e-01 1.24816967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:75.57, Y:13.49, Z:0.13 [[ 9.31908444e-01 -3.62671584e-01 -3.99682701e-03 7.55689454e+01] [ 3.62668284e-01 9.31917015e-01 -1.54708286e-03 1.34902905e+01] [ 4.28579409e-03 -7.78280972e-06 9.99990816e-01 1.25720749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.598623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.59, Y:13.50, Z:0.13 [[ 9.31964895e-01 -3.62526498e-01 -3.99652947e-03 7.55947303e+01] [ 3.62523194e-01 9.31973464e-01 -1.54785110e-03 1.34994435e+01] [ 4.28579645e-03 -6.29174339e-06 9.99990816e-01 1.26051451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:75.62, Y:13.51, Z:0.13 [[ 9.31974569e-01 -3.62501630e-01 -3.99623342e-03 7.56213962e+01] [ 3.62498323e-01 9.31983137e-01 -1.54861506e-03 1.35091475e+01] [ 4.28579765e-03 -5.35805522e-06 9.99990816e-01 1.26997576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:75.65, Y:13.52, Z:0.13 [[ 9.32140146e-01 -3.62075656e-01 -3.99594108e-03 7.56483331e+01] [ 3.62072341e-01 9.32148711e-01 -1.54936903e-03 1.35183858e+01] [ 4.28580014e-03 -2.59066728e-06 9.99990816e-01 1.27503575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:75.67, Y:13.53, Z:0.13 [[ 9.32192731e-01 -3.61940253e-01 -3.99564986e-03 7.56746165e+01] [ 3.61936933e-01 9.32201294e-01 -1.55011968e-03 1.35284403e+01] [ 4.28580068e-03 -1.16295741e-06 9.99990816e-01 1.32789206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.70, Y:13.54, Z:0.13 [[ 9.32401883e-01 -3.61401114e-01 -3.99535345e-03 7.57002165e+01] [ 3.61397786e-01 9.32410443e-01 -1.55088330e-03 1.35374212e+01] [ 4.28580023e-03 2.13461558e-06 9.99990816e-01 1.26958630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.73, Y:13.55, Z:0.13 [[ 9.32913103e-01 -3.60079408e-01 -3.99522475e-03 7.57271242e+01] [ 3.60076067e-01 9.32921658e-01 -1.55121477e-03 1.35463960e+01] [ 4.28579219e-03 8.56376497e-06 9.99990816e-01 1.25944664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.778623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.75, Y:13.56, Z:0.13 [[ 9.33152381e-01 -3.59458862e-01 -3.99492746e-03 7.57524813e+01] [ 3.59455512e-01 9.33160933e-01 -1.55198001e-03 1.35557435e+01] [ 4.28578321e-03 1.22351443e-05 9.99990816e-01 1.25762894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:75.78, Y:13.57, Z:0.13 [[ 9.33297300e-01 -3.59082430e-01 -3.99472462e-03 7.57789108e+01] [ 3.59079074e-01 9.33305849e-01 -1.55250195e-03 1.35655669e+01] [ 4.28577602e-03 1.45238627e-05 9.99990816e-01 1.26059086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.838623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.81, Y:13.58, Z:0.13 [[ 9.33689503e-01 -3.58061387e-01 -3.99442479e-03 7.58052270e+01] [ 3.58058019e-01 9.33698047e-01 -1.55327300e-03 1.35757587e+01] [ 4.28575371e-03 2.00388678e-05 9.99990816e-01 1.25504448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.868623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.83, Y:13.59, Z:0.12 [[ 9.33866254e-01 -3.57600149e-01 -3.99412253e-03 7.58304876e+01] [ 3.57596773e-01 9.33874795e-01 -1.55404985e-03 1.35863254e+01] [ 4.28573881e-03 2.29893822e-05 9.99990816e-01 1.24281555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.898623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:75.86, Y:13.60, Z:0.12 [[ 9.34176574e-01 -3.56788700e-01 -3.99399115e-03 7.58559104e+01] [ 3.56785315e-01 9.34185112e-01 -1.55438742e-03 1.35969308e+01] [ 4.28571494e-03 2.70749246e-05 9.99990816e-01 1.23895332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:75.88, Y:13.61, Z:0.12 [[ 9.34180351e-01 -3.56778815e-01 -3.99368972e-03 7.58821911e+01] [ 3.56775427e-01 9.34188887e-01 -1.55516150e-03 1.36071017e+01] [ 4.28570923e-03 2.79509611e-05 9.99990816e-01 1.23903018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.91, Y:13.62, Z:0.12 [[ 9.34215202e-01 -3.56687551e-01 -3.99338905e-03 7.59087124e+01] [ 3.56684159e-01 9.34223737e-01 -1.55593319e-03 1.36171317e+01] [ 4.28570084e-03 2.91978254e-05 9.99990816e-01 1.24142286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:75.93, Y:13.63, Z:0.12 [[ 9.34145111e-01 -3.56871079e-01 -3.99309009e-03 7.59339565e+01] [ 3.56867685e-01 9.34153645e-01 -1.55670006e-03 1.36268818e+01] [ 4.28570089e-03 2.91789309e-05 9.99990816e-01 1.23167949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:75.96, Y:13.64, Z:0.12 [[ 9.33957676e-01 -3.57361322e-01 -3.99296004e-03 7.59599163e+01] [ 3.57357931e-01 9.33966212e-01 -1.55703357e-03 1.36369602e+01] [ 4.28571333e-03 2.72875127e-05 9.99990816e-01 1.23240225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04862385300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:75.98, Y:13.65, Z:0.12 [[ 9.33786295e-01 -3.57808908e-01 -3.99266366e-03 7.59848736e+01] [ 3.57805518e-01 9.33794830e-01 -1.55779320e-03 1.36463711e+01] [ 4.28572096e-03 2.60488532e-05 9.99990816e-01 1.22890639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.01, Y:13.66, Z:0.12 [[ 9.33492583e-01 -3.58574479e-01 -3.99253477e-03 7.60108719e+01] [ 3.58571095e-01 9.33501121e-01 -1.55812346e-03 1.36563081e+01] [ 4.28573899e-03 2.28891261e-05 9.99990816e-01 1.22657989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.04, Y:13.66, Z:0.12 [[ 9.32919076e-01 -3.60063966e-01 -3.99224148e-03 7.60362672e+01] [ 3.60060592e-01 9.32927618e-01 -1.55887457e-03 1.36647687e+01] [ 4.28576689e-03 1.68549925e-05 9.99990816e-01 1.21770914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.06, Y:13.67, Z:0.12 [[ 9.32606807e-01 -3.60872010e-01 -3.99204153e-03 7.60614776e+01] [ 3.60868641e-01 9.32615351e-01 -1.55938645e-03 1.36742475e+01] [ 4.28577813e-03 1.36918176e-05 9.99990816e-01 1.20802698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.09, Y:13.68, Z:0.12 [[ 9.32216761e-01 -3.61878398e-01 -3.99191487e-03 7.60877467e+01] [ 3.61875037e-01 9.32225308e-01 -1.55971060e-03 1.36838460e+01] [ 4.28578965e-03 9.41401871e-06 9.99990816e-01 1.20193259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.198623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.11, Y:13.69, Z:0.12 [[ 9.32122468e-01 -3.62121211e-01 -3.99161381e-03 7.61127866e+01] [ 3.62117848e-01 9.32131015e-01 -1.56048071e-03 1.36934438e+01] [ 4.28579019e-03 9.12453038e-06 9.99990816e-01 1.19390440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.14, Y:13.70, Z:0.12 [[ 9.32110201e-01 -3.62152787e-01 -3.99148229e-03 7.61391635e+01] [ 3.62149424e-01 9.32118747e-01 -1.56081705e-03 1.37028977e+01] [ 4.28578971e-03 9.34048292e-06 9.99990816e-01 1.18604700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.258623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:76.17, Y:13.71, Z:0.12 [[ 9.32231112e-01 -3.61841435e-01 -3.99118854e-03 7.61654912e+01] [ 3.61838065e-01 9.32239656e-01 -1.56156784e-03 1.37132273e+01] [ 4.28578418e-03 1.15781866e-05 9.99990816e-01 1.18446328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.19, Y:13.72, Z:0.12 [[ 9.32349246e-01 -3.61536936e-01 -3.99089230e-03 7.61917025e+01] [ 3.61533560e-01 9.32357788e-01 -1.56232457e-03 1.37239264e+01] [ 4.28577755e-03 1.37906348e-05 9.99990816e-01 1.19357299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.318623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:76.22, Y:13.74, Z:0.12 [[ 9.32404611e-01 -3.61394130e-01 -3.99058639e-03 7.62167230e+01] [ 3.61390749e-01 9.32413150e-01 -1.56310554e-03 1.37350074e+01] [ 4.28577240e-03 1.52858074e-05 9.99990816e-01 1.24236400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.24, Y:13.75, Z:0.12 [[ 9.32670989e-01 -3.60706117e-01 -3.99037849e-03 7.62431518e+01] [ 3.60702728e-01 9.32679525e-01 -1.56363611e-03 1.37452198e+01] [ 4.28575742e-03 1.90176277e-05 9.99990816e-01 1.18829681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.27, Y:13.76, Z:0.12 [[ 9.32918295e-01 -3.60066011e-01 -3.99029112e-03 7.62687001e+01] [ 3.60062616e-01 9.32926828e-01 -1.56385905e-03 1.37568030e+01] [ 4.28574212e-03 2.21980591e-05 9.99990816e-01 1.19984858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.29, Y:13.77, Z:0.12 [[ 9.32886266e-01 -3.60148989e-01 -3.98999670e-03 7.62947677e+01] [ 3.60145591e-01 9.32894799e-01 -1.56460986e-03 1.37677289e+01] [ 4.28573982e-03 2.26233345e-05 9.99990816e-01 1.20323255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:76.32, Y:13.78, Z:0.12 [[ 9.32818952e-01 -3.60323305e-01 -3.98970433e-03 7.63212110e+01] [ 3.60319906e-01 9.32827484e-01 -1.56535502e-03 1.37783142e+01] [ 4.28573975e-03 2.26229409e-05 9.99990816e-01 1.20445328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.35, Y:13.79, Z:0.12 [[ 9.32496637e-01 -3.61156622e-01 -3.98941169e-03 7.63469055e+01] [ 3.61153227e-01 9.32505171e-01 -1.56610049e-03 1.37884456e+01] [ 4.28575459e-03 1.95945358e-05 9.99990816e-01 1.22371103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.37, Y:13.80, Z:0.12 [[ 9.32221014e-01 -3.61867473e-01 -3.98911095e-03 7.63730271e+01] [ 3.61864081e-01 9.32229549e-01 -1.56686615e-03 1.37985513e+01] [ 4.28576500e-03 1.71495824e-05 9.99990816e-01 1.22612631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.40, Y:13.81, Z:0.12 [[ 9.31591026e-01 -3.63486245e-01 -3.98881188e-03 7.63981038e+01] [ 3.63482865e-01 9.31599565e-01 -1.56762712e-03 1.38078335e+01] [ 4.28578631e-03 1.05225896e-05 9.99990816e-01 1.21807086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.42, Y:13.82, Z:0.12 [[ 9.31238416e-01 -3.64388670e-01 -3.98868140e-03 7.64239027e+01] [ 3.64385296e-01 9.31246958e-01 -1.56795907e-03 1.38182022e+01] [ 4.28579394e-03 6.72686650e-06 9.99990816e-01 1.22649456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.45, Y:13.83, Z:0.12 [[ 9.30924521e-01 -3.65189853e-01 -3.98838594e-03 7.64488149e+01] [ 3.65186484e-01 9.30933065e-01 -1.56871025e-03 1.38281587e+01] [ 4.28579741e-03 3.84620475e-06 9.99990816e-01 1.23014957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.618623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:76.47, Y:13.84, Z:0.12 [[ 9.30493135e-01 -3.66287619e-01 -3.98825735e-03 7.64737487e+01] [ 3.66284259e-01 9.30501682e-01 -1.56903711e-03 1.38374509e+01] [ 4.28579904e-03 -8.57622680e-07 9.99990816e-01 1.21134282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.50, Y:13.85, Z:0.12 [[ 9.30242673e-01 -3.66923240e-01 -3.98812987e-03 7.64997259e+01] [ 3.66919884e-01 9.30251222e-01 -1.56936107e-03 1.38473833e+01] [ 4.28579773e-03 -3.43751432e-06 9.99990816e-01 1.21701097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:13.86, Z:0.12 [[ 9.29993383e-01 -3.67554629e-01 -3.98783830e-03 7.65254562e+01] [ 3.67551275e-01 9.30001933e-01 -1.57010162e-03 1.38573605e+01] [ 4.28579544e-03 -5.55093869e-06 9.99990816e-01 1.21307258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:13.87, Z:0.12 [[ 9.29781278e-01 -3.68090851e-01 -3.98754581e-03 7.65514519e+01] [ 3.68087499e-01 9.29789829e-01 -1.57084409e-03 1.38668018e+01] [ 4.28579287e-03 -7.22434063e-06 9.99990816e-01 1.21428176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:13.88, Z:0.12 [[ 9.29380903e-01 -3.69100582e-01 -3.98725539e-03 7.65784003e+01] [ 3.69097237e-01 9.29389456e-01 -1.57158090e-03 1.38757990e+01] [ 4.28578455e-03 -1.10876687e-05 9.99990816e-01 1.21234210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76862385300001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:76.60, Y:13.89, Z:0.12 [[ 9.29175567e-01 -3.69617195e-01 -3.98695188e-03 7.66041433e+01] [ 3.69613851e-01 9.29184120e-01 -1.57235051e-03 1.38850553e+01] [ 4.28578016e-03 -1.26429619e-05 9.99990816e-01 1.20862534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.63, Y:13.89, Z:0.12 [[ 9.28926813e-01 -3.70241922e-01 -3.98681980e-03 7.66305803e+01] [ 3.70238583e-01 9.28935368e-01 -1.57268534e-03 1.38939950e+01] [ 4.28577196e-03 -1.51649333e-05 9.99990816e-01 1.20336932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:76.66, Y:13.90, Z:0.13 [[ 9.28793262e-01 -3.70576825e-01 -3.98653384e-03 7.66568030e+01] [ 3.70573485e-01 9.28801818e-01 -1.57340987e-03 1.39035703e+01] [ 4.28576911e-03 -1.59312503e-05 9.99990816e-01 1.26450950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:13.91, Z:0.12 [[ 9.28807220e-01 -3.70541845e-01 -3.98624910e-03 7.66837744e+01] [ 3.70538501e-01 9.28815774e-01 -1.57413095e-03 1.39115682e+01] [ 4.28577242e-03 -1.49945770e-05 9.99990816e-01 1.19507974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.71, Y:13.92, Z:0.12 [[ 9.28856412e-01 -3.70418516e-01 -3.98616043e-03 7.67099478e+01] [ 3.70415170e-01 9.28864965e-01 -1.57435544e-03 1.39208602e+01] [ 4.28577517e-03 -1.41841500e-05 9.99990816e-01 1.21911719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.918623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.74, Y:13.93, Z:0.12 [[ 9.29502907e-01 -3.68793247e-01 -3.98587776e-03 7.67365541e+01] [ 3.68789883e-01 9.29511453e-01 -1.57507077e-03 1.39303840e+01] [ 4.28579449e-03 -5.91853222e-06 9.99990816e-01 1.23628141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.76, Y:13.94, Z:0.12 [[ 9.30022325e-01 -3.67481414e-01 -3.98559329e-03 7.67627341e+01] [ 3.67478036e-01 9.30030865e-01 -1.57579026e-03 1.39399718e+01] [ 4.28579841e-03 9.02123224e-07 9.99990816e-01 1.18172948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.978623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:76.79, Y:13.95, Z:0.12 [[ 9.31535089e-01 -3.63629611e-01 -3.98550517e-03 7.67895318e+01] [ 3.63626197e-01 9.31543614e-01 -1.57601312e-03 1.39490964e+01] [ 4.28575693e-03 1.88774361e-05 9.99990816e-01 1.24487135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.82, Y:13.96, Z:0.12 [[ 9.32426814e-01 -3.61336898e-01 -3.98522536e-03 7.68159909e+01] [ 3.61333459e-01 9.32435330e-01 -1.57672035e-03 1.39584378e+01] [ 4.28569216e-03 3.01810634e-05 9.99990816e-01 1.19168871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.84, Y:13.97, Z:0.12 [[ 9.33322337e-01 -3.59017460e-01 -3.98492740e-03 7.68420143e+01] [ 3.59013997e-01 9.33330843e-01 -1.57747304e-03 1.39686636e+01] [ 4.28559601e-03 4.16461076e-05 9.99990816e-01 1.19162276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:13.98, Z:0.12 [[ 9.34988803e-01 -3.54654848e-01 -3.98462869e-03 7.68665312e+01] [ 3.54651342e-01 9.34997291e-01 -1.57822721e-03 1.39796158e+01] [ 4.28534296e-03 6.24708607e-05 9.99990816e-01 1.18309578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:13.99, Z:0.12 [[ 9.35598104e-01 -3.53044349e-01 -3.98449908e-03 7.68918997e+01] [ 3.53040826e-01 9.35606586e-01 -1.57855435e-03 1.39901825e+01] [ 4.28522327e-03 7.02016072e-05 9.99990816e-01 1.17046375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12862385300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:76.92, Y:14.00, Z:0.12 [[ 9.36051535e-01 -3.51840375e-01 -3.98437065e-03 7.69170219e+01] [ 3.51836840e-01 9.36060011e-01 -1.57887846e-03 1.40014117e+01] [ 4.28512322e-03 7.60632285e-05 9.99990816e-01 1.24815986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:14.01, Z:0.12 [[ 9.36537529e-01 -3.50544696e-01 -3.98408957e-03 7.69423899e+01] [ 3.50541147e-01 9.36545999e-01 -1.57958740e-03 1.40128077e+01] [ 4.28499913e-03 8.27555480e-05 9.99990816e-01 1.17097106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:14.02, Z:0.12 [[ 9.36426738e-01 -3.50840550e-01 -3.98400205e-03 7.69683192e+01] [ 3.50837003e-01 9.36435209e-01 -1.57980810e-03 1.40231515e+01] [ 4.28502054e-03 8.16392069e-05 9.99990816e-01 1.18758156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:14.03, Z:0.12 [[ 9.36095383e-01 -3.51723704e-01 -3.98371126e-03 7.69942818e+01] [ 3.51720162e-01 9.36103856e-01 -1.58054103e-03 1.40333956e+01] [ 4.28508122e-03 7.83855906e-05 9.99990816e-01 1.18287378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:14.04, Z:0.12 [[ 9.35260486e-01 -3.53937786e-01 -3.98342122e-03 7.70191873e+01] [ 3.53934260e-01 9.35268966e-01 -1.58127169e-03 1.40445862e+01] [ 4.28524205e-03 6.90316847e-05 9.99990816e-01 1.17410642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:14.06, Z:0.12 [[ 9.34806112e-01 -3.55136123e-01 -3.98329484e-03 7.70436016e+01] [ 3.55132607e-01 9.34814597e-01 -1.58158997e-03 1.40558850e+01] [ 4.28532189e-03 6.38820940e-05 9.99990816e-01 1.17129912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.07, Y:14.07, Z:0.12 [[ 9.34192658e-01 -3.56746706e-01 -3.98311184e-03 7.70694516e+01] [ 3.56743203e-01 9.34201148e-01 -1.58205072e-03 1.40671806e+01] [ 4.28541904e-03 5.69920953e-05 9.99990816e-01 1.16725274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:14.08, Z:0.12 [[ 9.32700167e-01 -3.60630747e-01 -3.98284485e-03 7.70959068e+01] [ 3.60627276e-01 9.32708670e-01 -1.58272259e-03 1.40773378e+01] [ 4.28561235e-03 3.98831343e-05 9.99990816e-01 1.18911910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.368623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.12, Y:14.09, Z:0.12 [[ 9.31736913e-01 -3.63112193e-01 -3.98253759e-03 7.71204153e+01] [ 3.63108742e-01 9.31745423e-01 -1.58349535e-03 1.40874098e+01] [ 4.28569764e-03 2.93068581e-05 9.99990816e-01 1.22203246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:14.10, Z:0.12 [[ 9.30689029e-01 -3.65789655e-01 -3.98240376e-03 7.71463489e+01] [ 3.65786227e-01 9.30697549e-01 -1.58383185e-03 1.40969919e+01] [ 4.28576273e-03 1.73464845e-05 9.99990816e-01 1.16587721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:14.11, Z:0.12 [[ 9.28566333e-01 -3.71145130e-01 -3.98213951e-03 7.71728592e+01] [ 3.71141748e-01 9.28574872e-01 -1.58449597e-03 1.41056202e+01] [ 4.28579265e-03 -6.62860818e-06 9.99990816e-01 1.15889231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.458623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:77.20, Y:14.12, Z:0.12 [[ 9.27650703e-01 -3.73427795e-01 -3.98187582e-03 7.71994767e+01] [ 3.73424431e-01 9.27659249e-01 -1.58515836e-03 1.41155667e+01] [ 4.28576612e-03 -1.64564426e-05 9.99990816e-01 1.22953465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:14.12, Z:0.12 [[ 9.26848437e-01 -3.75414599e-01 -3.98161121e-03 7.72261691e+01] [ 3.75411251e-01 9.26856989e-01 -1.58582272e-03 1.41237134e+01] [ 4.28572518e-03 -2.49243329e-05 9.99990816e-01 1.15916074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:14.13, Z:0.12 [[ 9.25913630e-01 -3.77714308e-01 -3.98134712e-03 7.72534463e+01] [ 3.77710977e-01 9.25922189e-01 -1.58648546e-03 1.41311492e+01] [ 4.28565590e-03 -3.48500053e-05 9.99990816e-01 1.15950055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:14.14, Z:0.12 [[ 9.25809484e-01 -3.77969509e-01 -3.98106386e-03 7.72790806e+01] [ 3.77966178e-01 9.25818043e-01 -1.58719594e-03 1.41404176e+01] [ 4.28565243e-03 -3.52664418e-05 9.99990816e-01 1.15393872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:14.15, Z:0.12 [[ 9.25946069e-01 -3.77634783e-01 -3.98094060e-03 7.73058621e+01] [ 3.77631448e-01 9.25954626e-01 -1.58750504e-03 1.41499083e+01] [ 4.28566749e-03 -3.33843158e-05 9.99990816e-01 1.15088737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.33, Y:14.16, Z:0.12 [[ 9.26911401e-01 -3.75259122e-01 -3.98065900e-03 7.73325830e+01] [ 3.75255762e-01 9.26919949e-01 -1.58821085e-03 1.41570979e+01] [ 4.28574284e-03 -2.16344767e-05 9.99990816e-01 1.15121967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:77.36, Y:14.17, Z:0.12 [[ 9.27631553e-01 -3.73475379e-01 -3.98046709e-03 7.73584103e+01] [ 3.73472000e-01 9.27640093e-01 -1.58869166e-03 1.41668921e+01] [ 4.28577808e-03 -1.28724916e-05 9.99990816e-01 1.23662760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:14.18, Z:0.11 [[ 9.29565268e-01 -3.68636094e-01 -3.98016184e-03 7.73835471e+01] [ 3.68632668e-01 9.29573789e-01 -1.58945605e-03 1.41755579e+01] [ 4.28578499e-03 1.02854582e-05 9.99990816e-01 1.14109997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.698623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.41, Y:14.19, Z:0.12 [[ 9.30533057e-01 -3.66186277e-01 -3.98002902e-03 7.74093766e+01] [ 3.66182826e-01 9.30541568e-01 -1.58978857e-03 1.41862110e+01] [ 4.28574120e-03 2.19325440e-05 9.99990816e-01 1.16432199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:14.20, Z:0.12 [[ 9.31536004e-01 -3.63627330e-01 -3.97972994e-03 7.74342750e+01] [ 3.63623853e-01 9.31544504e-01 -1.59053690e-03 1.41968237e+01] [ 4.28565824e-03 3.45176572e-05 9.99990816e-01 1.15100182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.46, Y:14.21, Z:0.11 [[ 9.33468260e-01 -3.58637939e-01 -3.97959945e-03 7.74582116e+01] [ 3.58634415e-01 9.33476741e-01 -1.59086333e-03 1.42093182e+01] [ 4.28540747e-03 5.77991001e-05 9.99990816e-01 1.14295676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:14.22, Z:0.12 [[ 9.34259386e-01 -3.56571962e-01 -3.97947470e-03 7.74839640e+01] [ 3.56568418e-01 9.34267858e-01 -1.59117532e-03 1.42214607e+01] [ 4.28526381e-03 6.76154777e-05 9.99990816e-01 1.15527073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.818623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.51, Y:14.23, Z:0.12 [[ 9.34993137e-01 -3.54643483e-01 -3.97917796e-03 7.75096150e+01] [ 3.54639918e-01 9.35001601e-01 -1.59191707e-03 1.42332736e+01] [ 4.28510077e-03 7.72561887e-05 9.99990816e-01 1.15176220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.53, Y:14.25, Z:0.11 [[ 9.36074952e-01 -3.51778131e-01 -3.97887965e-03 7.75340461e+01] [ 3.51774538e-01 9.36083403e-01 -1.59266232e-03 1.42452692e+01] [ 4.28482698e-03 9.11827567e-05 9.99990816e-01 1.12424984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:14.26, Z:0.11 [[ 9.36453938e-01 -3.50768004e-01 -3.97875082e-03 7.75593662e+01] [ 3.50764400e-01 9.36462385e-01 -1.59298408e-03 1.42566179e+01] [ 4.28471833e-03 9.61520757e-05 9.99990816e-01 1.14836506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:14.27, Z:0.11 [[ 9.36856474e-01 -3.49691462e-01 -3.97845777e-03 7.75834245e+01] [ 3.49687845e-01 9.36864916e-01 -1.59371564e-03 1.42681141e+01] [ 4.28458626e-03 1.01864490e-04 9.99990816e-01 1.12801308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:14.28, Z:0.11 [[ 9.37382111e-01 -3.48279989e-01 -3.97825725e-03 7.76073253e+01] [ 3.48276357e-01 9.37390547e-01 -1.59421603e-03 1.42838278e+01] [ 4.28441428e-03 1.08856643e-04 9.99990816e-01 1.12917655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:14.30, Z:0.11 [[ 9.37495749e-01 -3.47973989e-01 -3.97796652e-03 7.76317179e+01] [ 3.47970351e-01 9.37504182e-01 -1.59494113e-03 1.42968435e+01] [ 4.28435828e-03 1.11036116e-04 9.99990816e-01 1.10701455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.66, Y:14.31, Z:0.11 [[ 9.37384308e-01 -3.48274083e-01 -3.97776868e-03 7.76559569e+01] [ 3.48270446e-01 9.37392741e-01 -1.59543440e-03 1.43124317e+01] [ 4.28437994e-03 1.10195897e-04 9.99990816e-01 1.13763170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:14.33, Z:0.11 [[ 9.37151015e-01 -3.48901353e-01 -3.97746869e-03 7.76796949e+01] [ 3.48897719e-01 9.37159450e-01 -1.59618194e-03 1.43250423e+01] [ 4.28443240e-03 1.08133775e-04 9.99990816e-01 1.12942923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:14.34, Z:0.11 [[ 9.36851105e-01 -3.49705861e-01 -3.97726428e-03 7.77050563e+01] [ 3.49702232e-01 9.36859541e-01 -1.59669110e-03 1.43374837e+01] [ 4.28451023e-03 1.05003626e-04 9.99990816e-01 1.12497488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.73, Y:14.35, Z:0.11 [[ 9.36292842e-01 -3.51197805e-01 -3.97697882e-03 7.77301813e+01] [ 3.51194186e-01 9.36301283e-01 -1.59740179e-03 1.43497391e+01] [ 4.28465438e-03 9.89440221e-05 9.99990816e-01 1.12474356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.75, Y:14.36, Z:0.11 [[ 9.34938102e-01 -3.54788572e-01 -3.97669368e-03 7.77535146e+01] [ 3.54784982e-01 9.34946556e-01 -1.59811133e-03 1.43646148e+01] [ 4.28498770e-03 8.32639784e-05 9.99990816e-01 1.13549648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:14.38, Z:0.12 [[ 9.34089557e-01 -3.57016647e-01 -3.97649925e-03 7.77780273e+01] [ 3.57013076e-01 9.34098019e-01 -1.59859498e-03 1.43780981e+01] [ 4.28516509e-03 7.35686508e-05 9.99990816e-01 1.15277469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:14.39, Z:0.12 [[ 9.32370615e-01 -3.61481986e-01 -3.97620076e-03 7.78018702e+01] [ 3.61478452e-01 9.32379092e-01 -1.59933708e-03 1.43938786e+01] [ 4.28545799e-03 5.38639986e-05 9.99990816e-01 1.15030917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.83, Y:14.41, Z:0.11 [[ 9.31576451e-01 -3.63523737e-01 -3.97590106e-03 7.78265373e+01] [ 3.63520219e-01 9.31584935e-01 -1.60008177e-03 1.44062025e+01] [ 4.28555723e-03 4.52780771e-05 9.99990816e-01 1.13643760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.85, Y:14.42, Z:0.11 [[ 9.30871708e-01 -3.65324593e-01 -3.97560193e-03 7.78512831e+01] [ 3.65321088e-01 9.30880196e-01 -1.60082466e-03 1.44186043e+01] [ 4.28562972e-03 3.77911656e-05 9.99990816e-01 1.14810293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.88, Y:14.43, Z:0.12 [[ 9.29589155e-01 -3.68575909e-01 -3.97530418e-03 7.78750711e+01] [ 3.68572430e-01 9.29597654e-01 -1.60156371e-03 1.44327171e+01] [ 4.28573124e-03 2.36087399e-05 9.99990816e-01 1.15771864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:14.45, Z:0.12 [[ 9.29018452e-01 -3.70012045e-01 -3.97521198e-03 7.78996923e+01] [ 3.70008578e-01 9.29026957e-01 -1.60179253e-03 1.44452031e+01] [ 4.28576161e-03 1.72322822e-05 9.99990816e-01 1.16880888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.93, Y:14.46, Z:0.12 [[ 9.28361132e-01 -3.71658188e-01 -3.97491209e-03 7.79252251e+01] [ 3.71654734e-01 9.28369641e-01 -1.60253637e-03 1.44579264e+01] [ 4.28578347e-03 1.04375867e-05 9.99990816e-01 1.17419779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.95, Y:14.47, Z:0.12 [[ 9.28290800e-01 -3.71833824e-01 -3.97460918e-03 7.79515619e+01] [ 3.71830368e-01 9.28299309e-01 -1.60328729e-03 1.44687586e+01] [ 4.28578340e-03 1.04364524e-05 9.99990816e-01 1.17541849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.98, Y:14.48, Z:0.12 [[ 9.26885055e-01 -3.75324258e-01 -3.97430570e-03 7.79767277e+01] [ 3.75320831e-01 9.26893576e-01 -1.60403921e-03 1.44817452e+01] [ 4.28579325e-03 -4.87974612e-06 9.99990816e-01 1.19373706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.00, Y:14.49, Z:0.12 [[ 9.26099851e-01 -3.77257567e-01 -3.97421149e-03 7.80027670e+01] [ 3.77254156e-01 9.26108378e-01 -1.60427261e-03 1.44937218e+01] [ 4.28577454e-03 -1.35711780e-05 9.99990816e-01 1.21165939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.03, Y:14.51, Z:0.12 [[ 9.25262164e-01 -3.79307441e-01 -3.97394980e-03 7.80276818e+01] [ 3.79304046e-01 9.25270698e-01 -1.60492057e-03 1.45054034e+01] [ 4.28573762e-03 -2.23629638e-05 9.99990816e-01 1.21832220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.478623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.05, Y:14.52, Z:0.12 [[ 9.23501857e-01 -3.83573369e-01 -3.97381967e-03 7.80525219e+01] [ 3.83570012e-01 9.23510405e-01 -1.60524271e-03 1.45173745e+01] [ 4.28559217e-03 -4.17934415e-05 9.99990816e-01 1.21170175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:78.08, Y:14.53, Z:0.12 [[ 9.22648381e-01 -3.85621804e-01 -3.97351675e-03 7.80780189e+01] [ 3.85618463e-01 9.22656936e-01 -1.60599219e-03 1.45276098e+01] [ 4.28549840e-03 -5.04953247e-05 9.99990816e-01 1.21220818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.538623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.10, Y:14.54, Z:0.12 [[ 9.21329839e-01 -3.88761546e-01 -3.97338589e-03 7.81039278e+01] [ 3.88758233e-01 9.21338405e-01 -1.60631590e-03 1.45384354e+01] [ 4.28530687e-03 -6.47397096e-05 9.99990816e-01 1.21086090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:14.55, Z:0.12 [[ 9.20780939e-01 -3.90059838e-01 -3.97308129e-03 7.81295169e+01] [ 3.90056533e-01 9.20789508e-01 -1.60706894e-03 1.45490475e+01] [ 4.28522462e-03 -6.99678631e-05 9.99990816e-01 1.19421917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:14.56, Z:0.12 [[ 9.20454723e-01 -3.90829017e-01 -3.97277674e-03 7.81558254e+01] [ 3.90825717e-01 9.20463293e-01 -1.60782145e-03 1.45593184e+01] [ 4.28517844e-03 -7.27364659e-05 9.99990816e-01 1.18012150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:14.57, Z:0.12 [[ 9.20195326e-01 -3.91439371e-01 -3.97247201e-03 7.81819747e+01] [ 3.91436073e-01 9.20203898e-01 -1.60857401e-03 1.45694366e+01] [ 4.28514342e-03 -7.47665580e-05 9.99990816e-01 1.17610996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:78.21, Y:14.58, Z:0.12 [[ 9.20121831e-01 -3.91612101e-01 -3.97216940e-03 7.82081018e+01] [ 3.91608802e-01 9.20130402e-01 -1.60932092e-03 1.45785158e+01] [ 4.28514337e-03 -7.47651825e-05 9.99990816e-01 1.16970971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:14.59, Z:0.12 [[ 9.20164280e-01 -3.91512352e-01 -3.97186820e-03 7.82341463e+01] [ 3.91509048e-01 9.20172849e-01 -1.61006395e-03 1.45892548e+01] [ 4.28516520e-03 -7.34989993e-05 9.99990816e-01 1.17481170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:78.26, Y:14.60, Z:0.12 [[ 9.20495108e-01 -3.90733903e-01 -3.97155581e-03 7.82598062e+01] [ 3.90730589e-01 9.20503673e-01 -1.61083414e-03 1.45988794e+01] [ 4.28523922e-03 -6.90434007e-05 9.99990816e-01 1.22746425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:14.61, Z:0.12 [[ 9.20639778e-01 -3.90392914e-01 -3.97145888e-03 7.82869430e+01] [ 3.90389596e-01 9.20648341e-01 -1.61107310e-03 1.46078899e+01] [ 4.28526855e-03 -6.71982480e-05 9.99990816e-01 1.16024326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:14.62, Z:0.12 [[ 9.21494600e-01 -3.88370870e-01 -3.97119376e-03 7.83124530e+01] [ 3.88367530e-01 9.21503155e-01 -1.61172632e-03 1.46164564e+01] [ 4.28541513e-03 -5.70856118e-05 9.99990816e-01 1.16078597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:14.63, Z:0.12 [[ 9.21868993e-01 -3.87481343e-01 -3.97106154e-03 7.83387374e+01] [ 3.87477993e-01 9.21877544e-01 -1.61205204e-03 1.46273112e+01] [ 4.28547255e-03 -5.25981625e-05 9.99990816e-01 1.15753287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:14.64, Z:0.12 [[ 9.22223646e-01 -3.86636496e-01 -3.97077806e-03 7.83639730e+01] [ 3.86633135e-01 9.22232193e-01 -1.61275000e-03 1.46378680e+01] [ 4.28552736e-03 -4.79181889e-05 9.99990816e-01 1.15555245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:14.65, Z:0.12 [[ 9.22384998e-01 -3.86251407e-01 -3.97064587e-03 7.83898409e+01] [ 3.86248041e-01 9.22393543e-01 -1.61307539e-03 1.46486329e+01] [ 4.28555075e-03 -4.57776460e-05 9.99990816e-01 1.16014550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:14.66, Z:0.12 [[ 9.22742357e-01 -3.85396910e-01 -3.97034337e-03 7.84149542e+01] [ 3.85393533e-01 9.22750898e-01 -1.61381959e-03 1.46573721e+01] [ 4.28559900e-03 -4.10049702e-05 9.99990816e-01 1.16023590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:14.67, Z:0.12 [[ 9.22831869e-01 -3.85182528e-01 -3.97021192e-03 7.84408259e+01] [ 3.85179148e-01 9.22840408e-01 -1.61414292e-03 1.46674359e+01] [ 4.28561164e-03 -3.96603120e-05 9.99990816e-01 1.16148731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:14.68, Z:0.12 [[ 9.23350431e-01 -3.83937784e-01 -3.96991203e-03 7.84666921e+01] [ 3.83934389e-01 9.23358964e-01 -1.61488015e-03 1.46767937e+01] [ 4.28566737e-03 -3.30854725e-05 9.99990816e-01 1.16062147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.49, Y:14.69, Z:0.12 [[ 9.23574640e-01 -3.83398131e-01 -3.96961412e-03 7.84929109e+01] [ 3.83394728e-01 9.23583170e-01 -1.61561212e-03 1.46875257e+01] [ 4.28569146e-03 -2.97907441e-05 9.99990816e-01 1.17248377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:14.70, Z:0.12 [[ 9.24007722e-01 -3.82353207e-01 -3.96930753e-03 7.85174299e+01] [ 3.82349791e-01 9.24016247e-01 -1.61636501e-03 1.46977573e+01] [ 4.28572699e-03 -2.41301593e-05 9.99990816e-01 1.15659431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:14.71, Z:0.12 [[ 9.24780909e-01 -3.80479325e-01 -3.96900306e-03 7.85426177e+01] [ 3.80475889e-01 9.24789426e-01 -1.61711230e-03 1.47087798e+01] [ 4.28576986e-03 -1.46353873e-05 9.99990816e-01 1.18736547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.57, Y:14.72, Z:0.12 [[ 9.25205629e-01 -3.79445377e-01 -3.96869157e-03 7.85673208e+01] [ 3.79441928e-01 9.25214141e-01 -1.61787639e-03 1.47183910e+01] [ 4.28578528e-03 -9.01963442e-06 9.99990816e-01 1.16938472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:14.73, Z:0.12 [[ 9.25506204e-01 -3.78711653e-01 -3.96855662e-03 7.85929054e+01] [ 3.78708196e-01 9.25514713e-01 -1.61820735e-03 1.47289962e+01] [ 4.28579152e-03 -5.26397046e-06 9.99990816e-01 1.17772826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:14.74, Z:0.12 [[ 9.26096001e-01 -3.77267081e-01 -3.96824977e-03 7.86186377e+01] [ 3.77263608e-01 9.26104502e-01 -1.61895948e-03 1.47406668e+01] [ 4.28579409e-03 2.23568033e-06 9.99990816e-01 1.17896088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:14.75, Z:0.12 [[ 9.26286014e-01 -3.76800313e-01 -3.96794448e-03 7.86436215e+01] [ 3.76796832e-01 9.26294512e-01 -1.61970737e-03 1.47515892e+01] [ 4.28579144e-03 5.20337394e-06 9.99990816e-01 1.17911841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.198623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.67, Y:14.76, Z:0.12 [[ 9.26347711e-01 -3.76648609e-01 -3.96781128e-03 7.86692892e+01] [ 3.76645125e-01 9.26356209e-01 -1.62003361e-03 1.47630807e+01] [ 4.28579002e-03 6.25765366e-06 9.99990816e-01 1.18010062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:14.77, Z:0.12 [[ 9.26323783e-01 -3.76707457e-01 -3.96750029e-03 7.86945775e+01] [ 3.76703970e-01 9.26332279e-01 -1.62079487e-03 1.47739191e+01] [ 4.28578910e-03 6.80771950e-06 9.99990816e-01 1.18024563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:14.79, Z:0.12 [[ 9.26313723e-01 -3.76732197e-01 -3.96718768e-03 7.87205996e+01] [ 3.76728707e-01 9.26322218e-01 -1.62155969e-03 1.47852929e+01] [ 4.28578783e-03 7.51950905e-06 9.99990816e-01 1.17219957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:14.80, Z:0.12 [[ 9.26478929e-01 -3.76325734e-01 -3.96687462e-03 7.87448709e+01] [ 3.76322237e-01 9.26487421e-01 -1.62232516e-03 1.47966085e+01] [ 4.28578215e-03 1.02269460e-05 9.99990816e-01 1.16853590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.318623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.77, Y:14.81, Z:0.12 [[ 9.26524393e-01 -3.76213789e-01 -3.96666171e-03 7.87707087e+01] [ 3.76210289e-01 9.26532884e-01 -1.62284558e-03 1.48082506e+01] [ 4.28577940e-03 1.13070736e-05 9.99990816e-01 1.17295455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:14.82, Z:0.12 [[ 9.26653609e-01 -3.75895407e-01 -3.96635075e-03 7.87961770e+01] [ 3.75891900e-01 9.26662098e-01 -1.62360523e-03 1.48196548e+01] [ 4.28577265e-03 1.36005209e-05 9.99990816e-01 1.16692127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:78.82, Y:14.83, Z:0.12 [[ 9.26835682e-01 -3.75446254e-01 -3.96603988e-03 7.88212801e+01] [ 3.75442741e-01 9.26844167e-01 -1.62436424e-03 1.48328342e+01] [ 4.28576240e-03 1.64978541e-05 9.99990816e-01 1.21425748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:14.84, Z:0.11 [[ 9.26982087e-01 -3.75084632e-01 -3.96594355e-03 7.88462601e+01] [ 3.75081114e-01 9.26990571e-01 -1.62459941e-03 1.48437038e+01] [ 4.28575455e-03 1.84240275e-05 9.99990816e-01 1.11669432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:78.87, Y:14.86, Z:0.12 [[ 9.26959345e-01 -3.75140835e-01 -3.96581172e-03 7.88727924e+01] [ 3.75137316e-01 9.26967828e-01 -1.62492116e-03 1.48559018e+01] [ 4.28575415e-03 1.85118860e-05 9.99990816e-01 1.19359280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:14.87, Z:0.11 [[ 9.27093674e-01 -3.74808743e-01 -3.96554345e-03 7.88988467e+01] [ 3.74805219e-01 9.27102155e-01 -1.62557560e-03 1.48668524e+01] [ 4.28574382e-03 2.07544779e-05 9.99990816e-01 1.13673870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:14.88, Z:0.11 [[ 9.26959869e-01 -3.75139542e-01 -3.96544788e-03 7.89242182e+01] [ 3.75136019e-01 9.26968351e-01 -1.62580869e-03 1.48781070e+01] [ 4.28574981e-03 1.94770838e-05 9.99990816e-01 1.14920020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:14.89, Z:0.12 [[ 9.26354502e-01 -3.76631932e-01 -3.96535428e-03 7.89488708e+01] [ 3.76628423e-01 9.26362989e-01 -1.62603694e-03 1.48905474e+01] [ 4.28577488e-03 1.28215116e-05 9.99990816e-01 1.17661460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:14.90, Z:0.12 [[ 9.25844220e-01 -3.77884585e-01 -3.96504071e-03 7.89741148e+01] [ 3.77881083e-01 9.25852710e-01 -1.62680122e-03 1.49022913e+01] [ 4.28578679e-03 7.85063276e-06 9.99990816e-01 1.17634569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:14.91, Z:0.12 [[ 9.25303068e-01 -3.79207745e-01 -3.96472326e-03 7.89999401e+01] [ 3.79204252e-01 9.25311562e-01 -1.62757451e-03 1.49137737e+01] [ 4.28579313e-03 2.55976732e-06 9.99990816e-01 1.17863663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:14.92, Z:0.12 [[ 9.24709578e-01 -3.80652703e-01 -3.96440358e-03 7.90242733e+01] [ 3.80649220e-01 9.24718076e-01 -1.62835281e-03 1.49243105e+01] [ 4.28579255e-03 -3.29369918e-06 9.99990816e-01 1.16512399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.05, Y:14.93, Z:0.12 [[ 9.23448006e-01 -3.83703096e-01 -3.96426439e-03 7.90501590e+01] [ 3.83699639e-01 9.23456514e-01 -1.62869162e-03 1.49344023e+01] [ 4.28575979e-03 -1.70747897e-05 9.99990816e-01 1.16986668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.08, Y:14.94, Z:0.12 [[ 9.22836918e-01 -3.85170494e-01 -3.96395481e-03 7.90758992e+01] [ 3.85167048e-01 9.22845431e-01 -1.62944473e-03 1.49442228e+01] [ 4.28573162e-03 -2.30730188e-05 9.99990816e-01 1.17796418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.10, Y:14.95, Z:0.12 [[ 9.22441900e-01 -3.86115566e-01 -3.96364498e-03 7.91013934e+01] [ 3.86112126e-01 9.22450415e-01 -1.63019803e-03 1.49538077e+01] [ 4.28571080e-03 -2.66484231e-05 9.99990816e-01 1.17686506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:14.96, Z:0.12 [[ 9.22359846e-01 -3.86311539e-01 -3.96351035e-03 7.91274924e+01] [ 3.86308099e-01 9.22368361e-01 -1.63052529e-03 1.49648757e+01] [ 4.28570729e-03 -2.72050907e-05 9.99990816e-01 1.18055828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.15, Y:14.98, Z:0.12 [[ 9.22545781e-01 -3.85867303e-01 -3.96320514e-03 7.91527634e+01] [ 3.85863856e-01 9.22554293e-01 -1.63126683e-03 1.49759676e+01] [ 4.28572444e-03 -2.43392873e-05 9.99990816e-01 1.19223403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:14.99, Z:0.12 [[ 9.23291111e-01 -3.84080486e-01 -3.96289200e-03 7.91785645e+01] [ 3.84077019e-01 9.23299616e-01 -1.63202720e-03 1.49861868e+01] [ 4.28576645e-03 -1.52195401e-05 9.99990816e-01 1.20369551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:15.00, Z:0.12 [[ 9.23572580e-01 -3.83403162e-01 -3.96279465e-03 7.92048671e+01] [ 3.83399688e-01 9.23581082e-01 -1.63226353e-03 1.49964636e+01] [ 4.28577717e-03 -1.18203926e-05 9.99990816e-01 1.21375909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:15.01, Z:0.12 [[ 9.23734643e-01 -3.83012542e-01 -3.96248751e-03 7.92310320e+01] [ 3.83009061e-01 9.23743142e-01 -1.63300880e-03 1.50066470e+01] [ 4.28578352e-03 -9.20181786e-06 9.99990816e-01 1.23568598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.26, Y:15.02, Z:0.13 [[ 9.24012046e-01 -3.82342831e-01 -3.96217033e-03 7.92577872e+01] [ 3.82339341e-01 9.24020540e-01 -1.63377801e-03 1.50161366e+01] [ 4.28579008e-03 -5.26303705e-06 9.99990816e-01 1.25641269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:15.03, Z:0.13 [[ 9.24164886e-01 -3.81973254e-01 -3.96189404e-03 7.92835436e+01] [ 3.81969757e-01 9.24173378e-01 -1.63444773e-03 1.50254612e+01] [ 4.28579232e-03 -2.82449988e-06 9.99990816e-01 1.26258092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:15.04, Z:0.13 [[ 9.24325024e-01 -3.81585579e-01 -3.96179577e-03 7.93100993e+01] [ 3.81582077e-01 9.24333515e-01 -1.63468589e-03 1.50350463e+01] [ 4.28579318e-03 -7.69182582e-07 9.99990816e-01 1.27158261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.978623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.34, Y:15.04, Z:0.12 [[ 9.24858652e-01 -3.80290390e-01 -3.96147819e-03 7.93353900e+01] [ 3.80286873e-01 9.24867136e-01 -1.63545516e-03 1.50441318e+01] [ 4.28578887e-03 6.06669360e-06 9.99990816e-01 1.24986634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.36, Y:15.05, Z:0.13 [[ 9.25147266e-01 -3.79587729e-01 -3.96126257e-03 7.93610975e+01] [ 3.79584204e-01 9.25155747e-01 -1.63597726e-03 1.50546377e+01] [ 4.28578172e-03 9.88718914e-06 9.99990816e-01 1.25237361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.038623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.39, Y:15.06, Z:0.12 [[ 9.25582369e-01 -3.78525546e-01 -3.96094679e-03 7.93860494e+01] [ 3.78522008e-01 9.25590844e-01 -1.63674145e-03 1.50645536e+01] [ 4.28576453e-03 1.56335015e-05 9.99990816e-01 1.24708807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:15.08, Z:0.12 [[ 9.26646793e-01 -3.75912268e-01 -3.96080951e-03 7.94112766e+01] [ 3.75908704e-01 9.26655258e-01 -1.63707358e-03 1.50754926e+01] [ 4.28570100e-03 2.80862161e-05 9.99990816e-01 1.23454487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:15.09, Z:0.12 [[ 9.27220940e-01 -3.74493848e-01 -3.96049682e-03 7.94366330e+01] [ 3.74490269e-01 9.27229398e-01 -1.63782972e-03 1.50860559e+01] [ 4.28564624e-03 3.54624939e-05 9.99990816e-01 1.22712245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.46, Y:15.10, Z:0.12 [[ 9.27824776e-01 -3.72995310e-01 -3.96036221e-03 7.94616034e+01] [ 3.72991715e-01 9.27833227e-01 -1.63815514e-03 1.50960801e+01] [ 4.28557984e-03 4.27386375e-05 9.99990816e-01 1.22436750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.49, Y:15.11, Z:0.12 [[ 9.28990157e-01 -3.70083239e-01 -3.96022935e-03 7.94871685e+01] [ 3.70079617e-01 9.28998597e-01 -1.63847626e-03 1.51072068e+01] [ 4.28542012e-03 5.65281594e-05 9.99990816e-01 1.24313102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:15.12, Z:0.12 [[ 9.29521323e-01 -3.68747108e-01 -3.95991564e-03 7.95117549e+01] [ 3.68743470e-01 9.29529755e-01 -1.63923410e-03 1.51182794e+01] [ 4.28532225e-03 6.35100188e-05 9.99990816e-01 1.23848967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.54, Y:15.13, Z:0.12 [[ 9.30030280e-01 -3.67461560e-01 -3.95970175e-03 7.95371983e+01] [ 3.67457908e-01 9.30038707e-01 -1.63975062e-03 1.51297585e+01] [ 4.28522121e-03 6.99940068e-05 9.99990816e-01 1.23119866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:15.14, Z:0.12 [[ 9.29961634e-01 -3.67635257e-01 -3.95939535e-03 7.95634307e+01] [ 3.67631604e-01 9.29970060e-01 -1.64049012e-03 1.51408399e+01] [ 4.28522114e-03 6.99940056e-05 9.99990816e-01 1.23241935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:15.15, Z:0.12 [[ 9.30835922e-01 -3.65415944e-01 -3.95908882e-03 7.95885667e+01] [ 3.65412267e-01 9.30844338e-01 -1.64122956e-03 1.51545108e+01] [ 4.28502686e-03 8.10158060e-05 9.99990816e-01 1.21315984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:15.17, Z:0.12 [[ 9.30955950e-01 -3.65110048e-01 -3.95882182e-03 7.96133814e+01] [ 3.65106366e-01 9.30964363e-01 -1.64187333e-03 1.51669163e+01] [ 4.28498649e-03 8.31206938e-05 9.99990816e-01 1.21932651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:15.18, Z:0.12 [[ 9.30908829e-01 -3.65230177e-01 -3.95850144e-03 7.96375948e+01] [ 3.65226493e-01 9.30917242e-01 -1.64264540e-03 1.51785713e+01] [ 4.28498091e-03 8.34035080e-05 9.99990816e-01 1.20263292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:15.19, Z:0.12 [[ 9.30224437e-01 -3.66969793e-01 -3.95828259e-03 7.96625303e+01] [ 3.66966122e-01 9.30232855e-01 -1.64317258e-03 1.51913998e+01] [ 4.28511922e-03 7.59636777e-05 9.99990816e-01 1.20069088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.69, Y:15.20, Z:0.12 [[ 9.29772681e-01 -3.68112884e-01 -3.95796884e-03 7.96867640e+01] [ 3.68109220e-01 9.29781103e-01 -1.64392798e-03 1.52032229e+01] [ 4.28519570e-03 7.15145063e-05 9.99990816e-01 1.22860944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:15.22, Z:0.12 [[ 9.28885390e-01 -3.70346145e-01 -3.95783205e-03 7.97115099e+01] [ 3.70342500e-01 9.28893820e-01 -1.64425725e-03 1.52168050e+01] [ 4.28535006e-03 6.15731168e-05 9.99990816e-01 1.21400154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.74, Y:15.23, Z:0.12 [[ 9.28360469e-01 -3.71660028e-01 -3.95773573e-03 7.97363837e+01] [ 3.71656394e-01 9.28368903e-01 -1.64448905e-03 1.52290673e+01] [ 4.28542963e-03 5.57608379e-05 9.99990816e-01 1.21783352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:15.24, Z:0.12 [[ 9.27790312e-01 -3.73081057e-01 -3.95742300e-03 7.97611112e+01] [ 3.73077433e-01 9.27798751e-01 -1.64524130e-03 1.52410895e+01] [ 4.28550048e-03 5.00137246e-05 9.99990816e-01 1.21553829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:15.25, Z:0.12 [[ 9.26288783e-01 -3.76793618e-01 -3.95728692e-03 7.97859597e+01] [ 3.76790026e-01 9.26297236e-01 -1.64556853e-03 1.52536199e+01] [ 4.28566366e-03 3.32054240e-05 9.99990816e-01 1.22132010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.81, Y:15.27, Z:0.12 [[ 9.25343361e-01 -3.79109491e-01 -3.95696266e-03 7.98112847e+01] [ 3.79105917e-01 9.25351821e-01 -1.64634788e-03 1.52655509e+01] [ 4.28572871e-03 2.33291247e-05 9.99990816e-01 1.20305986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.84, Y:15.28, Z:0.12 [[ 9.23522903e-01 -3.83522870e-01 -3.95686214e-03 7.98354274e+01] [ 3.83519335e-01 9.23531379e-01 -1.64658943e-03 1.52791844e+01] [ 4.28579106e-03 3.12991355e-06 9.99990816e-01 1.22580991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:15.29, Z:0.12 [[ 9.22464959e-01 -3.86060547e-01 -3.95654155e-03 7.98601934e+01] [ 3.86057032e-01 9.22473444e-01 -1.64735942e-03 1.52907559e+01] [ 4.28578499e-03 -7.81934620e-06 9.99990816e-01 1.22725509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.89, Y:15.30, Z:0.12 [[ 9.21212252e-01 -3.89040272e-01 -3.95637958e-03 7.98861147e+01] [ 3.89036783e-01 9.21220748e-01 -1.64774832e-03 1.53022770e+01] [ 4.28573941e-03 -2.12512412e-05 9.99990816e-01 1.23464389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:15.31, Z:0.13 [[ 9.18390431e-01 -3.95655616e-01 -3.95606571e-03 7.99129394e+01] [ 3.95652185e-01 9.18398950e-01 -1.64850155e-03 1.53138677e+01] [ 4.28548549e-03 -5.12579903e-05 9.99990816e-01 1.27462161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.698623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.94, Y:15.32, Z:0.13 [[ 9.16871772e-01 -3.99162254e-01 -3.95579019e-03 7.99392461e+01] [ 3.99158852e-01 9.16880303e-01 -1.64916242e-03 1.53244612e+01] [ 4.28526950e-03 -6.69181988e-05 9.99990816e-01 1.28531699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.97, Y:15.33, Z:0.13 [[ 9.15324484e-01 -4.02697708e-01 -3.95547847e-03 7.99651617e+01] [ 4.02694336e-01 9.15333027e-01 -1.64990973e-03 1.53343069e+01] [ 4.28499495e-03 -8.26460048e-05 9.99990816e-01 1.28931316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:15.34, Z:0.13 [[ 9.12782335e-01 -4.08427185e-01 -3.95516718e-03 7.99923190e+01] [ 4.08423864e-01 9.12790898e-01 -1.65065564e-03 1.53419985e+01] [ 4.28441323e-03 -1.08695355e-04 9.99990816e-01 1.28103607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.02, Y:15.35, Z:0.13 [[ 9.11621473e-01 -4.11011738e-01 -3.95485021e-03 8.00180895e+01] [ 4.11008438e-01 9.11630044e-01 -1.65141472e-03 1.53504932e+01] [ 4.28411110e-03 -1.20011692e-04 9.99990816e-01 1.27125105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:15.36, Z:0.13 [[ 9.10690209e-01 -4.13071064e-01 -3.95463561e-03 8.00440275e+01] [ 4.13067781e-01 9.10698786e-01 -1.65192846e-03 1.53589296e+01] [ 4.28384570e-03 -1.29137486e-04 9.99990816e-01 1.26489989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:80.07, Y:15.37, Z:0.13 [[ 9.09367778e-01 -4.15974285e-01 -3.95450141e-03 8.00713770e+01] [ 4.15971028e-01 9.09376365e-01 -1.65224965e-03 1.53661315e+01] [ 4.28342349e-03 -1.42455421e-04 9.99990816e-01 1.32253063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.10, Y:15.37, Z:0.13 [[ 9.08890977e-01 -4.17015054e-01 -3.95418890e-03 8.00981449e+01] [ 4.17011804e-01 9.08899567e-01 -1.65299721e-03 1.53738429e+01] [ 4.28328530e-03 -1.46549194e-04 9.99990816e-01 1.27836072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.13, Y:15.38, Z:0.13 [[ 9.08770971e-01 -4.17276514e-01 -3.95387032e-03 8.01251847e+01] [ 4.17273263e-01 9.08779560e-01 -1.65375890e-03 1.53790180e+01] [ 4.28327128e-03 -1.46956288e-04 9.99990816e-01 1.26742596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.15, Y:15.39, Z:0.13 [[ 9.08851292e-01 -4.17101543e-01 -3.95373191e-03 8.01524904e+01] [ 4.17098289e-01 9.08859880e-01 -1.65408974e-03 1.53874389e+01] [ 4.28331169e-03 -1.45773220e-04 9.99990816e-01 1.27227291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.18, Y:15.40, Z:0.13 [[ 9.09148389e-01 -4.16453571e-01 -3.95343032e-03 8.01798480e+01] [ 4.16450307e-01 9.09156974e-01 -1.65481025e-03 1.53954638e+01] [ 4.28344038e-03 -1.41939199e-04 9.99990816e-01 1.29245636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.21, Y:15.40, Z:0.13 [[ 9.09932050e-01 -4.14738518e-01 -3.95311324e-03 8.02078396e+01] [ 4.14735234e-01 9.09940627e-01 -1.65556735e-03 1.54006727e+01] [ 4.28372589e-03 -1.33041553e-04 9.99990816e-01 1.30254636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.23, Y:15.41, Z:0.13 [[ 9.10477813e-01 -4.13539027e-01 -3.95279660e-03 8.02336264e+01] [ 4.13535730e-01 9.10486385e-01 -1.65632302e-03 1.54093551e+01] [ 4.28392170e-03 -1.26577268e-04 9.99990816e-01 1.33526953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:15.41, Z:0.13 [[ 9.12239975e-01 -4.09637163e-01 -3.95248076e-03 8.02621137e+01] [ 4.09633825e-01 9.12248531e-01 -1.65707637e-03 1.54144695e+01] [ 4.28444483e-03 -1.07418502e-04 9.99990816e-01 1.30292805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:15.42, Z:0.13 [[ 9.13228941e-01 -4.07427639e-01 -3.95217130e-03 8.02893275e+01] [ 4.07424277e-01 9.13237488e-01 -1.65781411e-03 1.54230857e+01] [ 4.28471028e-03 -9.62467161e-05 9.99990816e-01 1.31535049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:15.43, Z:0.13 [[ 9.14446045e-01 -4.04688539e-01 -3.95184737e-03 8.03148773e+01] [ 4.04685148e-01 9.14454581e-01 -1.65858592e-03 1.54309389e+01] [ 4.28499564e-03 -8.25666029e-05 9.99990816e-01 1.29747708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.34, Y:15.44, Z:0.13 [[ 9.17215174e-01 -3.98372574e-01 -3.95170650e-03 8.03423439e+01] [ 3.98369124e-01 9.17223686e-01 -1.65892149e-03 1.54369597e+01] [ 4.28546762e-03 -5.26498887e-05 9.99990816e-01 1.30033882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.178623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.37, Y:15.45, Z:0.14 [[ 9.18654266e-01 -3.95042690e-01 -3.95141617e-03 8.03689616e+01] [ 3.95039205e-01 9.18662763e-01 -1.65961273e-03 1.54468000e+01] [ 4.28563678e-03 -3.63539880e-05 9.99990816e-01 1.35832614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.40, Y:15.45, Z:0.13 [[ 9.22004504e-01 -3.87158990e-01 -3.95110351e-03 8.03955075e+01] [ 3.87155430e-01 9.22012970e-01 -1.66035678e-03 1.54532109e+01] [ 4.28579073e-03 1.16524901e-06 9.99990816e-01 1.28779445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:15.46, Z:0.13 [[ 9.23623432e-01 -3.83280766e-01 -3.95096712e-03 8.04215724e+01] [ 3.83277169e-01 9.23631882e-01 -1.66068125e-03 1.54633197e+01] [ 4.28574638e-03 1.95286240e-05 9.99990816e-01 1.28783615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:15.47, Z:0.13 [[ 9.25194511e-01 -3.79472673e-01 -3.95065710e-03 8.04471396e+01] [ 3.79469037e-01 9.25202945e-01 -1.66141846e-03 1.54742112e+01] [ 4.28562248e-03 3.79831921e-05 9.99990816e-01 1.30206916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:15.49, Z:0.13 [[ 9.26622732e-01 -3.75971685e-01 -3.95034437e-03 8.04728708e+01] [ 3.75968015e-01 9.26631151e-01 -1.66216169e-03 1.54853943e+01] [ 4.28543788e-03 5.49936743e-05 9.99990816e-01 1.31755331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.50, Y:15.49, Z:0.13 [[ 9.29360828e-01 -3.69151524e-01 -3.95002308e-03 8.04979151e+01] [ 3.69147789e-01 9.29369219e-01 -1.66292487e-03 1.54945688e+01] [ 4.28490111e-03 8.73149474e-05 9.99990816e-01 1.30989282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.52, Y:15.51, Z:0.13 [[ 9.30337257e-01 -3.66683768e-01 -3.94988370e-03 8.05234635e+01] [ 3.66680009e-01 9.30345637e-01 -1.66325587e-03 1.55052403e+01] [ 4.28464600e-03 9.90455174e-05 9.99990816e-01 1.31246466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:15.52, Z:0.13 [[ 9.32058697e-01 -3.62285781e-01 -3.94956955e-03 8.05485886e+01] [ 3.62281979e-01 9.32067057e-01 -1.66400152e-03 1.55161428e+01] [ 4.28410775e-03 1.20089210e-04 9.99990816e-01 1.30058145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.57, Y:15.53, Z:0.13 [[ 9.32684052e-01 -3.60672789e-01 -3.94947210e-03 8.05740912e+01] [ 3.60668972e-01 9.32692405e-01 -1.66423277e-03 1.55269107e+01] [ 4.28388611e-03 1.27751327e-04 9.99990816e-01 1.29387740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:15.54, Z:0.13 [[ 9.33185768e-01 -3.59372686e-01 -3.94916091e-03 8.05983254e+01] [ 3.59368854e-01 9.33194114e-01 -1.66497090e-03 1.55378484e+01] [ 4.28367878e-03 1.34521717e-04 9.99990816e-01 1.27727336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:15.55, Z:0.13 [[ 9.33909372e-01 -3.57488029e-01 -3.94894890e-03 8.06242948e+01] [ 3.57484178e-01 9.33917710e-01 -1.66547359e-03 1.55506964e+01] [ 4.28338018e-03 1.43714642e-04 9.99990816e-01 1.30995192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:15.56, Z:0.13 [[ 9.34073536e-01 -3.57058871e-01 -3.94868144e-03 8.06496631e+01] [ 3.57055014e-01 9.34081871e-01 -1.66610746e-03 1.55624022e+01] [ 4.28329020e-03 1.46370379e-04 9.99990816e-01 1.31901390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.538623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.67, Y:15.57, Z:0.14 [[ 9.34139383e-01 -3.56886569e-01 -3.94837509e-03 8.06746301e+01] [ 3.56882707e-01 9.34147716e-01 -1.66683313e-03 1.55743091e+01] [ 4.28323593e-03 1.47947682e-04 9.99990816e-01 1.35080218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.70, Y:15.59, Z:0.13 [[ 9.33898056e-01 -3.57517599e-01 -3.94806125e-03 8.06996858e+01] [ 3.57513739e-01 9.33906390e-01 -1.66757618e-03 1.55868760e+01] [ 4.28330746e-03 1.45860013e-04 9.99990816e-01 1.31341126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.598623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.72, Y:15.60, Z:0.13 [[ 9.33499061e-01 -3.58558107e-01 -3.94796359e-03 8.07247472e+01] [ 3.58554256e-01 9.33507399e-01 -1.66780735e-03 1.55987131e+01] [ 4.28345907e-03 1.41337449e-04 9.99990816e-01 1.30924732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:15.61, Z:0.13 [[ 9.32905635e-01 -3.60099281e-01 -3.94766274e-03 8.07493952e+01] [ 3.60095441e-01 9.32913978e-01 -1.66851915e-03 1.56105344e+01] [ 4.28366229e-03 1.35035561e-04 9.99990816e-01 1.30734878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.77, Y:15.62, Z:0.13 [[ 9.31265494e-01 -3.64319911e-01 -3.94753157e-03 8.07738071e+01] [ 3.64316107e-01 9.31273853e-01 -1.66882943e-03 1.56223442e+01] [ 4.28422072e-03 1.15973933e-04 9.99990816e-01 1.30298888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.80, Y:15.63, Z:0.13 [[ 9.30203551e-01 -3.67022850e-01 -3.94732759e-03 8.07989484e+01] [ 3.67019069e-01 9.30211920e-01 -1.66931176e-03 1.56336072e+01] [ 4.28452674e-03 1.04055229e-04 9.99990816e-01 1.30433968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.82, Y:15.65, Z:0.13 [[ 9.27741505e-01 -3.73202520e-01 -3.94703013e-03 8.08225865e+01] [ 3.73198792e-01 9.27749898e-01 -1.67001481e-03 1.56461203e+01] [ 4.28511053e-03 7.63151762e-05 9.99990816e-01 1.30638763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:15.66, Z:0.13 [[ 9.26353002e-01 -3.76635817e-01 -3.94682664e-03 8.08475079e+01] [ 3.76632117e-01 9.26361408e-01 -1.67049559e-03 1.56579500e+01] [ 4.28535635e-03 6.09669317e-05 9.99990816e-01 1.31316155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.87, Y:15.67, Z:0.13 [[ 9.24906299e-01 -3.80174648e-01 -3.94651798e-03 8.08735425e+01] [ 3.80170978e-01 9.24914717e-01 -1.67122447e-03 1.56695529e+01] [ 4.28554974e-03 4.53744388e-05 9.99990816e-01 1.30628255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.90, Y:15.68, Z:0.13 [[ 9.23297931e-01 -3.84064262e-01 -3.94622541e-03 8.08991835e+01] [ 3.84060624e-01 9.23306364e-01 -1.67191502e-03 1.56809726e+01] [ 4.28569784e-03 2.80858839e-05 9.99990816e-01 1.30556173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.93, Y:15.69, Z:0.13 [[ 9.20137335e-01 -3.91575937e-01 -3.94590929e-03 8.09250702e+01] [ 3.91572365e-01 9.20145796e-01 -1.67266076e-03 1.56915477e+01] [ 4.28578555e-03 -6.03141474e-06 9.99990816e-01 1.31266803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.868623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:80.95, Y:15.70, Z:0.13 [[ 9.18660143e-01 -3.95029081e-01 -3.94558417e-03 8.09497474e+01] [ 3.95025537e-01 9.18668615e-01 -1.67342733e-03 1.57012833e+01] [ 4.28573681e-03 -2.12955152e-05 9.99990816e-01 1.30682519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.898623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:80.98, Y:15.71, Z:0.13 [[ 9.15817615e-01 -4.01575060e-01 -3.94544317e-03 8.09770911e+01] [ 4.01571575e-01 9.15826113e-01 -1.67375969e-03 1.57117282e+01] [ 4.28548003e-03 -5.15192210e-05 9.99990816e-01 1.32677807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.00, Y:15.72, Z:0.13 [[ 9.14559681e-01 -4.04431731e-01 -3.94516177e-03 8.10027199e+01] [ 4.04428270e-01 9.14568188e-01 -1.67442272e-03 1.57221938e+01] [ 4.28530913e-03 -6.41754432e-05 9.99990816e-01 1.33705776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.03, Y:15.73, Z:0.13 [[ 9.13431781e-01 -4.06972750e-01 -3.94483655e-03 8.10276369e+01] [ 4.06969309e-01 9.13440297e-01 -1.67518856e-03 1.57321733e+01] [ 4.28512876e-03 -7.52569383e-05 9.99990816e-01 1.32745421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:15.74, Z:0.13 [[ 9.11943891e-01 -4.10295964e-01 -3.94469571e-03 8.10537667e+01] [ 4.10292553e-01 9.11952418e-01 -1.67552015e-03 1.57422599e+01] [ 4.28483395e-03 -9.04989059e-05 9.99990816e-01 1.34429965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.08, Y:15.75, Z:0.14 [[ 9.11742001e-01 -4.10744403e-01 -3.94459931e-03 8.10795726e+01] [ 4.10740995e-01 9.11750529e-01 -1.67574707e-03 1.57526752e+01] [ 4.28479423e-03 -9.23596641e-05 9.99990816e-01 1.35344522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.10, Y:15.76, Z:0.13 [[ 9.11698186e-01 -4.10841649e-01 -3.94429011e-03 8.11047992e+01] [ 4.10838239e-01 9.11706713e-01 -1.67647454e-03 1.57625919e+01] [ 4.28480133e-03 -9.20264025e-05 9.99990816e-01 1.34315616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:81.13, Y:15.77, Z:0.14 [[ 9.12293344e-01 -4.09518372e-01 -3.94415502e-03 8.11312215e+01] [ 4.09514948e-01 9.12301866e-01 -1.67679228e-03 1.57721097e+01] [ 4.28493723e-03 -8.54640074e-05 9.99990816e-01 1.36793123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:81.16, Y:15.78, Z:0.14 [[ 9.12685202e-01 -4.08644306e-01 -3.94383480e-03 8.11570100e+01] [ 4.08640871e-01 9.12693719e-01 -1.67754510e-03 1.57831394e+01] [ 4.28503251e-03 -8.05414948e-05 9.99990816e-01 1.36948671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.18, Y:15.79, Z:0.14 [[ 9.13747482e-01 -4.06263446e-01 -3.94351380e-03 8.11827828e+01] [ 4.06259985e-01 9.13755989e-01 -1.67829937e-03 1.57940439e+01] [ 4.28524104e-03 -6.85500323e-05 9.99990816e-01 1.36861767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.21, Y:15.81, Z:0.14 [[ 9.13670101e-01 -4.06437446e-01 -3.94319440e-03 8.12089167e+01] [ 4.06433983e-01 9.13678608e-01 -1.67904947e-03 1.58053717e+01] [ 4.28524095e-03 -6.85509083e-05 9.99990816e-01 1.36983835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.198623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:81.23, Y:15.82, Z:0.14 [[ 9.14209127e-01 -4.05223550e-01 -3.94287451e-03 8.12341970e+01] [ 4.05220073e-01 9.14217628e-01 -1.67980031e-03 1.58156846e+01] [ 4.28534003e-03 -6.20431213e-05 9.99990816e-01 1.36772315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.26, Y:15.83, Z:0.14 [[ 9.15098111e-01 -4.03211981e-01 -3.94273546e-03 8.12598474e+01] [ 4.03208484e-01 9.15106604e-01 -1.68012663e-03 1.58261487e+01] [ 4.28547044e-03 -5.22636795e-05 9.99990816e-01 1.37618641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:15.84, Z:0.14 [[ 9.15587407e-01 -4.02099686e-01 -3.94241950e-03 8.12858547e+01] [ 4.02096176e-01 9.15595894e-01 -1.68086770e-03 1.58374522e+01] [ 4.28553948e-03 -4.62505003e-05 9.99990816e-01 1.37588877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:15.85, Z:0.14 [[ 9.16022947e-01 -4.01106496e-01 -3.94210208e-03 8.13109722e+01] [ 4.01102973e-01 9.16031428e-01 -1.68161181e-03 1.58484253e+01] [ 4.28559482e-03 -4.07938560e-05 9.99990816e-01 1.36582538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:15.86, Z:0.14 [[ 9.16490234e-01 -4.00037640e-01 -3.94188622e-03 8.13371070e+01] [ 4.00034105e-01 9.16498710e-01 -1.68211767e-03 1.58593737e+01] [ 4.28564401e-03 -3.52445052e-05 9.99990816e-01 1.36421010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:81.36, Y:15.87, Z:0.14 [[ 9.17729050e-01 -3.97187431e-01 -3.94157292e-03 8.13642067e+01] [ 3.97183867e-01 9.17737514e-01 -1.68285146e-03 1.58702082e+01] [ 4.28573678e-03 -2.11275005e-05 9.99990816e-01 1.44705460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.39, Y:15.88, Z:0.14 [[ 9.18467336e-01 -3.95477205e-01 -3.94128934e-03 8.13895857e+01] [ 3.95473622e-01 9.18475792e-01 -1.68351536e-03 1.58804179e+01] [ 4.28577080e-03 -1.24221017e-05 9.99990816e-01 1.38437002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.41, Y:15.89, Z:0.14 [[ 9.20258418e-01 -3.91291339e-01 -3.94116825e-03 8.14148192e+01] [ 3.91287716e-01 9.20266857e-01 -1.68379879e-03 1.58929246e+01] [ 4.28578240e-03 7.39929245e-06 9.99990816e-01 1.40677009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:15.90, Z:0.14 [[ 9.21010779e-01 -3.89517154e-01 -3.94106967e-03 8.14397445e+01] [ 3.89513514e-01 9.21019211e-01 -1.68402948e-03 1.59045427e+01] [ 4.28575925e-03 1.59094072e-05 9.99990816e-01 1.42710663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:15.92, Z:0.14 [[ 9.21730087e-01 -3.87811962e-01 -3.94075080e-03 8.14640826e+01] [ 3.87808303e-01 9.21738510e-01 -1.68477535e-03 1.59153988e+01] [ 4.28571780e-03 2.46522537e-05 9.99990816e-01 1.42233683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.49, Y:15.93, Z:0.14 [[ 9.22373726e-01 -3.86278632e-01 -3.94061171e-03 8.14899675e+01] [ 3.86274958e-01 9.22382143e-01 -1.68510061e-03 1.59272041e+01] [ 4.28566823e-03 3.21329104e-05 9.99990816e-01 1.41550291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.51, Y:15.94, Z:0.14 [[ 9.23484083e-01 -3.83616506e-01 -3.94029349e-03 8.15143646e+01] [ 3.83612804e-01 9.23492488e-01 -1.68584438e-03 1.59412609e+01] [ 4.28554916e-03 4.53034204e-05 9.99990816e-01 1.38311185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.558623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.54, Y:15.95, Z:0.14 [[ 9.23912284e-01 -3.82584065e-01 -3.94019467e-03 8.15398898e+01] [ 3.82580353e-01 9.23920684e-01 -1.68607531e-03 1.59538496e+01] [ 4.28549290e-03 5.03446200e-05 9.99990816e-01 1.37160652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.57, Y:15.97, Z:0.13 [[ 9.24446717e-01 -3.81290892e-01 -3.93987975e-03 8.15650091e+01] [ 3.81287165e-01 9.24455111e-01 -1.68681086e-03 1.59668319e+01] [ 4.28540759e-03 5.71411841e-05 9.99990816e-01 1.32958733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.59, Y:15.98, Z:0.13 [[ 9.24413694e-01 -3.81370948e-01 -3.93978190e-03 8.15902492e+01] [ 3.81367220e-01 9.24422088e-01 -1.68703937e-03 1.59793535e+01] [ 4.28540922e-03 5.70186229e-05 9.99990816e-01 1.33188149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.61, Y:15.99, Z:0.13 [[ 9.24210010e-01 -3.81864292e-01 -3.93947111e-03 8.16149732e+01] [ 3.81860566e-01 9.24218405e-01 -1.68776479e-03 1.59920493e+01] [ 4.28542882e-03 5.55204487e-05 9.99990816e-01 1.33434458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:16.01, Z:0.13 [[ 9.23465345e-01 -3.83661621e-01 -3.93915959e-03 8.16399372e+01] [ 3.83657908e-01 9.23473745e-01 -1.68849156e-03 1.60051739e+01] [ 4.28551987e-03 4.79737109e-05 9.99990816e-01 1.33985309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.67, Y:16.02, Z:0.13 [[ 9.22779833e-01 -3.85307493e-01 -3.93906279e-03 8.16655961e+01] [ 3.85303795e-01 9.22788239e-01 -1.68871736e-03 1.60169024e+01] [ 4.28559627e-03 4.05784826e-05 9.99990816e-01 1.34554097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.738623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.69, Y:16.03, Z:0.14 [[ 9.21114712e-01 -3.89271336e-01 -3.93875354e-03 8.16904372e+01] [ 3.89267670e-01 9.21123133e-01 -1.68943833e-03 1.60289797e+01] [ 4.28572692e-03 2.29370865e-05 9.99990816e-01 1.35909024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.72, Y:16.04, Z:0.14 [[ 9.20182283e-01 -3.91470372e-01 -3.93865756e-03 8.17153544e+01] [ 3.91466726e-01 9.20190713e-01 -1.68966207e-03 1.60406874e+01] [ 4.28576875e-03 1.29437251e-05 9.99990816e-01 1.35984843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.74, Y:16.05, Z:0.14 [[ 9.19224019e-01 -3.93715242e-01 -3.93835429e-03 8.17410368e+01] [ 3.93711613e-01 9.19232456e-01 -1.69036866e-03 1.60526805e+01] [ 4.28578699e-03 3.25165009e-06 9.99990816e-01 1.35820594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.77, Y:16.06, Z:0.14 [[ 9.18183566e-01 -3.96135622e-01 -3.93805075e-03 8.17655538e+01] [ 3.96132012e-01 9.18192011e-01 -1.69107552e-03 1.60641012e+01] [ 4.28578199e-03 -7.27022143e-06 9.99990816e-01 1.35417674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:16.07, Z:0.13 [[ 9.15980829e-01 -4.01202709e-01 -3.93784454e-03 8.17915543e+01] [ 4.01199144e-01 9.15989293e-01 -1.69155557e-03 1.60747900e+01] [ 4.28568011e-03 -3.04273833e-05 9.99990816e-01 1.34393321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:81.82, Y:16.09, Z:0.13 [[ 9.14726092e-01 -4.04055284e-01 -3.93754427e-03 8.18176398e+01] [ 4.04051742e-01 9.14734566e-01 -1.69225423e-03 1.60853421e+01] [ 4.28557211e-03 -4.30225295e-05 9.99990816e-01 1.34326444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:16.10, Z:0.14 [[ 9.12510619e-01 -4.09034068e-01 -3.93724495e-03 8.18435582e+01] [ 4.09030570e-01 9.12519110e-01 -1.69295036e-03 1.60956502e+01] [ 4.28528563e-03 -6.56183617e-05 9.99990816e-01 1.35236876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.87, Y:16.11, Z:0.13 [[ 9.11525358e-01 -4.11225024e-01 -3.93715207e-03 8.18686234e+01] [ 4.11221545e-01 9.11533858e-01 -1.69316633e-03 1.61053842e+01] [ 4.28511978e-03 -7.56777093e-05 9.99990816e-01 1.34994600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.978623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:81.89, Y:16.12, Z:0.14 [[ 9.10685586e-01 -4.13081425e-01 -3.93702302e-03 8.18948469e+01] [ 4.13077962e-01 9.10694092e-01 -1.69346635e-03 1.61157144e+01] [ 4.28496310e-03 -8.40820510e-05 9.99990816e-01 1.42218971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:81.92, Y:16.12, Z:0.14 [[ 9.09094083e-01 -4.16572263e-01 -3.93673033e-03 8.19214040e+01] [ 4.16568830e-01 9.09102601e-01 -1.69414648e-03 1.61234546e+01] [ 4.28462622e-03 -9.97806041e-05 9.99990816e-01 1.36273807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.038623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.95, Y:16.13, Z:0.14 [[ 9.08561073e-01 -4.17733502e-01 -3.93663911e-03 8.19468487e+01] [ 4.17730079e-01 9.08569596e-01 -1.69435841e-03 1.61324028e+01] [ 4.28450088e-03 -1.05024472e-04 9.99990816e-01 1.36050898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.97, Y:16.14, Z:0.14 [[ 9.08062807e-01 -4.18815524e-01 -3.93644118e-03 8.19731059e+01] [ 4.18812109e-01 9.08071333e-01 -1.69481812e-03 1.61418862e+01] [ 4.28438553e-03 -1.09627931e-04 9.99990816e-01 1.36490209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.098623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.00, Y:16.15, Z:0.14 [[ 9.07550349e-01 -4.19924839e-01 -3.93615296e-03 8.19998198e+01] [ 4.19921432e-01 9.07558878e-01 -1.69548726e-03 1.61496307e+01] [ 4.28426777e-03 -1.14134930e-04 9.99990816e-01 1.38233016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.03, Y:16.16, Z:0.14 [[ 9.07381367e-01 -4.20289856e-01 -3.93606341e-03 8.20261272e+01] [ 4.20286451e-01 9.07389896e-01 -1.69569511e-03 1.61590436e+01] [ 4.28422762e-03 -1.15631982e-04 9.99990816e-01 1.39481603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:16.17, Z:0.14 [[ 9.07550758e-01 -4.19923958e-01 -3.93577763e-03 8.20522834e+01] [ 4.19920547e-01 9.07559285e-01 -1.69635816e-03 1.61660539e+01] [ 4.28429297e-03 -1.13182762e-04 9.99990816e-01 1.38984489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.08, Y:16.18, Z:0.14 [[ 9.07730214e-01 -4.19535897e-01 -3.93558249e-03 8.20791723e+01] [ 4.19532481e-01 9.07738739e-01 -1.69681076e-03 1.61752331e+01] [ 4.28435372e-03 -1.10858286e-04 9.99990816e-01 1.40428479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:82.10, Y:16.18, Z:0.14 [[ 9.08155606e-01 -4.18614271e-01 -3.93528083e-03 8.21048546e+01] [ 4.18610843e-01 9.08164127e-01 -1.69751009e-03 1.61840930e+01] [ 4.28448283e-03 -1.05747916e-04 9.99990816e-01 1.38334956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:16.19, Z:0.14 [[ 9.09412279e-01 -4.15877172e-01 -3.93514930e-03 8.21320298e+01] [ 4.15873716e-01 9.09420788e-01 -1.69781496e-03 1.61913147e+01] [ 4.28478906e-03 -9.25113903e-05 9.99990816e-01 1.37760730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.16, Y:16.20, Z:0.14 [[ 9.10068462e-01 -4.14439271e-01 -3.93501706e-03 8.21584756e+01] [ 4.14435801e-01 9.10076966e-01 -1.69812139e-03 1.62007256e+01] [ 4.28493658e-03 -8.54052269e-05 9.99990816e-01 1.37466760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:16.21, Z:0.14 [[ 9.10778878e-01 -4.12875711e-01 -3.93473567e-03 8.21848594e+01] [ 4.12872223e-01 9.10787374e-01 -1.69877316e-03 1.62098834e+01] [ 4.28508974e-03 -7.73363485e-05 9.99990816e-01 1.36449292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:16.22, Z:0.14 [[ 9.12267919e-01 -4.09575102e-01 -3.93445426e-03 8.22122194e+01] [ 4.09571581e-01 9.12276401e-01 -1.69942465e-03 1.62172684e+01] [ 4.28535180e-03 -6.11100628e-05 9.99990816e-01 1.37107842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.368623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:82.24, Y:16.23, Z:0.14 [[ 9.12889267e-01 -4.08188325e-01 -3.93419027e-03 8.22381574e+01] [ 4.08184789e-01 9.12897743e-01 -1.70003559e-03 1.62267252e+01] [ 4.28544809e-03 -5.39323840e-05 9.99990816e-01 1.43170531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.27, Y:16.23, Z:0.14 [[ 9.14221588e-01 -4.05195523e-01 -3.93386225e-03 8.22652439e+01] [ 4.05191955e-01 9.14230051e-01 -1.70079427e-03 1.62348765e+01] [ 4.28560931e-03 -3.90665005e-05 9.99990816e-01 1.40980650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428623853 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:82.29, Y:16.24, Z:0.15 [[ 9.15004373e-01 -4.03424743e-01 -3.93376044e-03 8.22914894e+01] [ 4.03421158e-01 9.15012828e-01 -1.70102973e-03 1.62448018e+01] [ 4.28567875e-03 -3.05125500e-05 9.99990816e-01 1.51662399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.458623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.32, Y:16.25, Z:0.15 [[ 9.15757334e-01 -4.01712625e-01 -3.93342303e-03 8.23177683e+01] [ 4.01709021e-01 9.15765781e-01 -1.70180958e-03 1.62538878e+01] [ 4.28573261e-03 -2.16469073e-05 9.99990816e-01 1.45569564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:16.26, Z:0.14 [[ 9.16623145e-01 -3.99733085e-01 -3.93331804e-03 8.23430713e+01] [ 3.99729461e-01 9.16631584e-01 -1.70205220e-03 1.62631475e+01] [ 4.28577013e-03 -1.21226596e-05 9.99990816e-01 1.41019743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.37, Y:16.27, Z:0.15 [[ 9.17949754e-01 -3.96677172e-01 -3.93317415e-03 8.23704717e+01] [ 3.96673519e-01 9.17958180e-01 -1.70238466e-03 1.62716723e+01] [ 4.28578652e-03 2.51755002e-06 9.99990816e-01 1.45807283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:16.28, Z:0.15 [[ 9.18415252e-01 -3.95598228e-01 -3.93289477e-03 8.23953004e+01] [ 3.95594562e-01 9.18423672e-01 -1.70302985e-03 1.62812861e+01] [ 4.28577924e-03 8.25680201e-06 9.99990816e-01 1.46171247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.42, Y:16.29, Z:0.14 [[ 9.19278598e-01 -3.93587847e-01 -3.93267686e-03 8.24221000e+01] [ 3.93584160e-01 9.19287010e-01 -1.70353289e-03 1.62899603e+01] [ 4.28574860e-03 1.81820085e-05 9.99990816e-01 1.41401108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:16.30, Z:0.15 [[ 9.19632407e-01 -3.92760449e-01 -3.93257831e-03 8.24481809e+01] [ 3.92756755e-01 9.19640815e-01 -1.70376038e-03 1.62999223e+01] [ 4.28572921e-03 2.22865633e-05 9.99990816e-01 1.45343600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:16.31, Z:0.14 [[ 9.20127219e-01 -3.91599844e-01 -3.93224776e-03 8.24731022e+01] [ 3.91596135e-01 9.20135621e-01 -1.70452294e-03 1.63094249e+01] [ 4.28569215e-03 2.85249233e-05 9.99990816e-01 1.43631019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:16.32, Z:0.14 [[ 9.21279495e-01 -3.88881256e-01 -3.93210471e-03 8.24985316e+01] [ 3.88877521e-01 9.21287885e-01 -1.70485287e-03 1.63189608e+01] [ 4.28558575e-03 4.15388555e-05 9.99990816e-01 1.42549256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.698623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.52, Y:16.33, Z:0.15 [[ 9.22084788e-01 -3.86967937e-01 -3.93196746e-03 8.25244918e+01] [ 3.86964183e-01 9.22093170e-01 -1.70516934e-03 1.63300175e+01] [ 4.28548620e-03 5.07801366e-05 9.99990816e-01 1.45059711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.55, Y:16.34, Z:0.15 [[ 9.23780756e-01 -3.82901628e-01 -3.93164726e-03 8.25496116e+01] [ 3.82897834e-01 9.23789120e-01 -1.70590731e-03 1.63413217e+01] [ 4.28520765e-03 7.04651248e-05 9.99990816e-01 1.46677114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.758623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.57, Y:16.35, Z:0.15 [[ 9.24681325e-01 -3.80721673e-01 -3.93131873e-03 8.25739122e+01] [ 3.80717857e-01 9.24689678e-01 -1.70666409e-03 1.63523941e+01] [ 4.28501386e-03 8.13971642e-05 9.99990816e-01 1.46581424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.60, Y:16.36, Z:0.15 [[ 9.25510116e-01 -3.78702485e-01 -3.93109494e-03 8.25991564e+01] [ 3.78698648e-01 9.25518460e-01 -1.70717941e-03 1.63641658e+01] [ 4.28481402e-03 9.13114812e-05 9.99990816e-01 1.47439417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.818623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.62, Y:16.38, Z:0.15 [[ 9.26954477e-01 -3.75153232e-01 -3.93077074e-03 8.26241050e+01] [ 3.75149360e-01 9.26962804e-01 -1.70792554e-03 1.63777734e+01] [ 4.28441206e-03 1.08543101e-04 9.99990816e-01 1.48366633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:82.65, Y:16.39, Z:0.15 [[ 9.27528475e-01 -3.73731828e-01 -3.93044617e-03 8.26489385e+01] [ 3.73727940e-01 9.27536796e-01 -1.70867216e-03 1.63899636e+01] [ 4.28421861e-03 1.15924539e-04 9.99990816e-01 1.48818402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.67, Y:16.40, Z:0.15 [[ 9.28488679e-01 -3.71339908e-01 -3.93012129e-03 8.26732604e+01] [ 3.71335996e-01 9.28496988e-01 -1.70941909e-03 1.64038486e+01] [ 4.28388131e-03 1.27780776e-04 9.99990816e-01 1.49064561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:16.42, Z:0.15 [[ 9.28736839e-01 -3.70718814e-01 -3.92996861e-03 8.26978069e+01] [ 3.70714895e-01 9.28745145e-01 -1.70977003e-03 1.64165707e+01] [ 4.28378318e-03 1.31028517e-04 9.99990816e-01 1.49443512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.72, Y:16.43, Z:0.15 [[ 9.28801170e-01 -3.70557613e-01 -3.92965506e-03 8.27222382e+01] [ 3.70553689e-01 9.28809473e-01 -1.71049037e-03 1.64294471e+01] [ 4.28373608e-03 1.32557274e-04 9.99990816e-01 1.50256639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.75, Y:16.44, Z:0.15 [[ 9.28886287e-01 -3.70344199e-01 -3.92933263e-03 8.27461505e+01] [ 3.70340269e-01 9.28894589e-01 -1.71123073e-03 1.64423511e+01] [ 4.28368019e-03 1.34348656e-04 9.99990816e-01 1.49084247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.77, Y:16.46, Z:0.15 [[ 9.28897859e-01 -3.70315176e-01 -3.92919299e-03 8.27709127e+01] [ 3.70311246e-01 9.28906159e-01 -1.71155132e-03 1.64577805e+01] [ 4.28366499e-03 1.34832005e-04 9.99990816e-01 1.51100592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.80, Y:16.47, Z:0.15 [[ 9.28784362e-01 -3.70599748e-01 -3.92891311e-03 8.27951518e+01] [ 3.70595817e-01 9.28792662e-01 -1.71219355e-03 1.64707076e+01] [ 4.28368416e-03 1.34219834e-04 9.99990816e-01 1.50258206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.058623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.82, Y:16.48, Z:0.15 [[ 9.28715597e-01 -3.70772037e-01 -3.92881381e-03 8.28211922e+01] [ 3.70768107e-01 9.28723898e-01 -1.71242136e-03 1.64822609e+01] [ 4.28370123e-03 1.33673566e-04 9.99990816e-01 1.50380291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.85, Y:16.50, Z:0.15 [[ 9.28452863e-01 -3.71429465e-01 -3.92849601e-03 8.28460632e+01] [ 3.71425537e-01 9.28461165e-01 -1.71315012e-03 1.64983134e+01] [ 4.28377042e-03 1.31435397e-04 9.99990816e-01 1.49907457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.118623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:82.87, Y:16.51, Z:0.15 [[ 9.28416070e-01 -3.71521427e-01 -3.92820442e-03 8.28696724e+01] [ 3.71517498e-01 9.28424371e-01 -1.71381847e-03 1.65115520e+01] [ 4.28376100e-03 1.31739936e-04 9.99990816e-01 1.48449935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:82.89, Y:16.53, Z:0.15 [[ 9.28425974e-01 -3.71496677e-01 -3.92805949e-03 8.28940304e+01] [ 3.71492746e-01 9.28434274e-01 -1.71415059e-03 1.65251109e+01] [ 4.28374631e-03 1.32216328e-04 9.99990816e-01 1.54396949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:16.54, Z:0.15 [[ 9.28056647e-01 -3.72418355e-01 -3.92795795e-03 8.29196348e+01] [ 3.72414431e-01 9.28064951e-01 -1.71438323e-03 1.65388134e+01] [ 4.28386788e-03 1.28216533e-04 9.99990816e-01 1.49537730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:16.55, Z:0.15 [[ 9.27552231e-01 -3.73672893e-01 -3.92766551e-03 8.29430267e+01] [ 3.73668978e-01 9.27560539e-01 -1.71505294e-03 1.65542826e+01] [ 4.28401634e-03 1.23154425e-04 9.99990816e-01 1.49575741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.97, Y:16.57, Z:0.15 [[ 9.27068469e-01 -3.74871481e-01 -3.92751007e-03 8.29678149e+01] [ 3.74867575e-01 9.27076781e-01 -1.71540885e-03 1.65685521e+01] [ 4.28416125e-03 1.18005279e-04 9.99990816e-01 1.49528639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:16.59, Z:0.15 [[ 9.26056236e-01 -3.77365109e-01 -3.92720010e-03 8.29906142e+01] [ 3.77361222e-01 9.26064556e-01 -1.71611818e-03 1.65854431e+01] [ 4.28444394e-03 1.07248907e-04 9.99990816e-01 1.47053615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.01, Y:16.60, Z:0.15 [[ 9.25423361e-01 -3.78914479e-01 -3.92705484e-03 8.30149724e+01] [ 3.78910604e-01 9.25431687e-01 -1.71645052e-03 1.65987257e+01] [ 4.28460894e-03 1.00440686e-04 9.99990816e-01 1.47690035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.04, Y:16.61, Z:0.15 [[ 9.24711121e-01 -3.80649344e-01 -3.92674074e-03 8.30394903e+01] [ 3.80645482e-01 9.24719454e-01 -1.71716878e-03 1.66117410e+01] [ 4.28477273e-03 9.31889439e-05 9.99990816e-01 1.48367548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35862385300001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:83.06, Y:16.63, Z:0.15 [[ 9.23765130e-01 -3.82939379e-01 -3.92641869e-03 8.30618736e+01] [ 3.82935535e-01 9.23773471e-01 -1.71790487e-03 1.66268868e+01] [ 4.28497484e-03 8.33753710e-05 9.99990816e-01 1.48886596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:16.64, Z:0.15 [[ 9.23338279e-01 -3.83967455e-01 -3.92627855e-03 8.30849169e+01] [ 3.83963619e-01 9.23346624e-01 -1.71822510e-03 1.66406805e+01] [ 4.28505856e-03 7.89548924e-05 9.99990816e-01 1.48710369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.11, Y:16.66, Z:0.15 [[ 9.22857428e-01 -3.85121740e-01 -3.92606322e-03 8.31086550e+01] [ 3.85117912e-01 9.22865776e-01 -1.71871697e-03 1.66573842e+01] [ 4.28514465e-03 7.41334576e-05 9.99990816e-01 1.48479332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.13, Y:16.67, Z:0.15 [[ 9.22582240e-01 -3.85780506e-01 -3.92575111e-03 8.31325688e+01] [ 3.85776680e-01 9.22590590e-01 -1.71942957e-03 1.66704639e+01] [ 4.28518344e-03 7.18519490e-05 9.99990816e-01 1.46896961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.478623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:83.16, Y:16.68, Z:0.15 [[ 9.22375810e-01 -3.86273808e-01 -3.92553833e-03 8.31572051e+01] [ 3.86269985e-01 9.22384161e-01 -1.71991522e-03 1.66841654e+01] [ 4.28521258e-03 7.00905685e-05 9.99990816e-01 1.53727920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.18, Y:16.70, Z:0.15 [[ 9.21855207e-01 -3.87514607e-01 -3.92521691e-03 8.31824372e+01] [ 3.87510792e-01 9.21863561e-01 -1.72064846e-03 1.66982742e+01] [ 4.28529085e-03 6.51248275e-05 9.99990816e-01 1.48716831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.538623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:83.21, Y:16.71, Z:0.16 [[ 9.20972248e-01 -3.89608410e-01 -3.92493621e-03 8.32054462e+01] [ 3.89604611e-01 9.20980610e-01 -1.72128852e-03 1.67145343e+01] [ 4.28541863e-03 5.60857091e-05 9.99990816e-01 1.56116291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.23, Y:16.73, Z:0.15 [[ 9.20253453e-01 -3.91303180e-01 -3.92460714e-03 8.32293482e+01] [ 3.91299394e-01 9.20261821e-01 -1.72203848e-03 1.67270477e+01] [ 4.28550525e-03 4.90154658e-05 9.99990816e-01 1.48853206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.598623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:83.25, Y:16.74, Z:0.15 [[ 9.18658783e-01 -3.95032453e-01 -3.92446381e-03 8.32523338e+01] [ 3.95028699e-01 9.18667165e-01 -1.72236506e-03 1.67437842e+01] [ 4.28566614e-03 3.19899574e-05 9.99990816e-01 1.49518740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.28, Y:16.76, Z:0.15 [[ 9.17831840e-01 -3.96950015e-01 -3.92413181e-03 8.32759008e+01] [ 3.96946276e-01 9.17840228e-01 -1.72312115e-03 1.67571023e+01] [ 4.28571900e-03 2.38659439e-05 9.99990816e-01 1.49462411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65862385300001 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:83.30, Y:16.77, Z:0.15 [[ 9.16848547e-01 -3.99215911e-01 -3.92398795e-03 8.33007097e+01] [ 3.99212191e-01 9.16856944e-01 -1.72344869e-03 1.67695606e+01] [ 4.28576374e-03 1.36375995e-05 9.99990816e-01 1.54521543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.33, Y:16.78, Z:0.15 [[ 9.14681183e-01 -4.04157069e-01 -3.92388592e-03 8.33261501e+01] [ 4.04153394e-01 9.14689600e-01 -1.72368094e-03 1.67823763e+01] [ 4.28577548e-03 -9.23328705e-06 9.99990816e-01 1.51487322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:83.35, Y:16.79, Z:0.15 [[ 9.13676508e-01 -4.06423233e-01 -3.92359595e-03 8.33504994e+01] [ 4.06419575e-01 9.13684932e-01 -1.72434075e-03 1.67949864e+01] [ 4.28574265e-03 -1.91365658e-05 9.99990816e-01 1.51644463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74862385300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:83.38, Y:16.81, Z:0.15 [[ 9.12779699e-01 -4.08433382e-01 -3.92349369e-03 8.33752389e+01] [ 4.08429742e-01 9.12788131e-01 -1.72457340e-03 1.68074921e+01] [ 4.28569182e-03 -2.83159277e-05 9.99990816e-01 1.51950645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77862385300001 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:83.40, Y:16.82, Z:0.16 [[ 9.11055314e-01 -4.12265476e-01 -3.92339465e-03 8.34000152e+01] [ 4.12261870e-01 9.11063760e-01 -1.72479870e-03 1.68214857e+01] [ 4.28553764e-03 -4.60789948e-05 9.99990816e-01 1.58882301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.43, Y:16.83, Z:0.15 [[ 9.10230704e-01 -4.14082933e-01 -3.92307208e-03 8.34256953e+01] [ 4.14079341e-01 9.10239157e-01 -1.72553207e-03 1.68334393e+01] [ 4.28544720e-03 -5.38308336e-05 9.99990816e-01 1.52803745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:16.85, Z:0.15 [[ 9.09067045e-01 -4.16631394e-01 -3.92297228e-03 8.34508636e+01] [ 4.16627825e-01 9.09075507e-01 -1.72575893e-03 1.68458915e+01] [ 4.28528336e-03 -6.55888336e-05 9.99990816e-01 1.52864454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.48, Y:16.86, Z:0.15 [[ 9.08581626e-01 -4.17688929e-01 -3.92265431e-03 8.34760849e+01] [ 4.17685367e-01 9.08590091e-01 -1.72648138e-03 1.68571325e+01] [ 4.28521699e-03 -6.97860482e-05 9.99990816e-01 1.53823071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.898623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.50, Y:16.87, Z:0.15 [[ 9.08089976e-01 -4.18756744e-01 -3.92232304e-03 8.35009262e+01] [ 4.18753188e-01 9.08098444e-01 -1.72723365e-03 1.68683847e+01] [ 4.28514619e-03 -7.40017095e-05 9.99990816e-01 1.52924760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:83.53, Y:16.88, Z:0.15 [[ 9.07349289e-01 -4.20359233e-01 -3.92217827e-03 8.35268471e+01] [ 4.20355691e-01 9.07357762e-01 -1.72756234e-03 1.68799055e+01] [ 4.28501567e-03 -8.12074989e-05 9.99990816e-01 1.52506296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.958623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:83.55, Y:16.89, Z:0.15 [[ 9.07047872e-01 -4.21009237e-01 -3.92185426e-03 8.35526108e+01] [ 4.21005698e-01 9.07056346e-01 -1.72829757e-03 1.68912883e+01] [ 4.28497204e-03 -8.34743625e-05 9.99990816e-01 1.52330498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.58, Y:16.90, Z:0.15 [[ 9.06612021e-01 -4.21946990e-01 -3.92175368e-03 8.35785717e+01] [ 4.21943459e-01 9.06620499e-01 -1.72852577e-03 1.69021787e+01] [ 4.28488853e-03 -8.76560681e-05 9.99990816e-01 1.52396465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.60, Y:16.91, Z:0.15 [[ 9.06407019e-01 -4.22387187e-01 -3.92165427e-03 8.36042573e+01] [ 4.22383659e-01 9.06415499e-01 -1.72875129e-03 1.69130507e+01] [ 4.28485060e-03 -8.94903743e-05 9.99990816e-01 1.54091073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.63, Y:16.92, Z:0.16 [[ 9.06073425e-01 -4.23102317e-01 -3.92133830e-03 8.36294396e+01] [ 4.23098793e-01 9.06081906e-01 -1.72946771e-03 1.69241951e+01] [ 4.28479547e-03 -9.20887698e-05 9.99990816e-01 1.55552926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.66, Y:16.93, Z:0.16 [[ 9.05508009e-01 -4.24311054e-01 -3.92101446e-03 8.36557121e+01] [ 4.24307538e-01 9.05516494e-01 -1.73020159e-03 1.69347326e+01] [ 4.28468693e-03 -9.70045983e-05 9.99990816e-01 1.55919261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.68, Y:16.95, Z:0.16 [[ 9.05141036e-01 -4.25093320e-01 -3.92091404e-03 8.36817879e+01] [ 4.25089810e-01 9.05149523e-01 -1.73042914e-03 1.69454167e+01] [ 4.28460734e-03 -1.00458183e-04 9.99990816e-01 1.56069603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:83.71, Y:16.96, Z:0.16 [[ 9.04851134e-01 -4.25710060e-01 -3.92059487e-03 8.37079321e+01] [ 4.25706552e-01 9.04859621e-01 -1.73115195e-03 1.69562759e+01] [ 4.28455680e-03 -1.02588119e-04 9.99990816e-01 1.62098458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:83.73, Y:16.97, Z:0.16 [[ 9.04363710e-01 -4.26744551e-01 -3.92027642e-03 8.37340697e+01] [ 4.26741050e-01 9.04372200e-01 -1.73187281e-03 1.69656510e+01] [ 4.28445630e-03 -1.06699959e-04 9.99990816e-01 1.63292907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.198623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.76, Y:16.98, Z:0.16 [[ 9.03975803e-01 -4.27565645e-01 -3.91995945e-03 8.37602237e+01] [ 4.27562149e-01 9.03984296e-01 -1.73258995e-03 1.69752660e+01] [ 4.28437772e-03 -1.09806901e-04 9.99990816e-01 1.56620198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.79, Y:16.98, Z:0.16 [[ 9.03674494e-01 -4.28202106e-01 -3.91986098e-03 8.37870810e+01] [ 4.28198615e-01 9.03682989e-01 -1.73281269e-03 1.69829039e+01] [ 4.28430573e-03 -1.12580408e-04 9.99990816e-01 1.57436379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.258623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.81, Y:16.99, Z:0.16 [[ 9.03617925e-01 -4.28321472e-01 -3.91954007e-03 8.38131129e+01] [ 4.28317978e-01 9.03626419e-01 -1.73353828e-03 1.69930073e+01] [ 4.28431162e-03 -1.12353219e-04 9.99990816e-01 1.56584842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:17.00, Z:0.16 [[ 9.03539375e-01 -4.28487150e-01 -3.91924270e-03 8.38388562e+01] [ 4.28483655e-01 9.03547868e-01 -1.73421033e-03 1.70032561e+01] [ 4.28431023e-03 -1.12404123e-04 9.99990816e-01 1.55953203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.318623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:83.87, Y:17.01, Z:0.16 [[ 9.03568192e-01 -4.28426381e-01 -3.91892434e-03 8.38659660e+01] [ 4.28422882e-01 9.03576684e-01 -1.73492944e-03 1.70121804e+01] [ 4.28433821e-03 -1.11329805e-04 9.99990816e-01 1.55666813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:83.89, Y:17.02, Z:0.16 [[ 9.03607333e-01 -4.28343825e-01 -3.91860231e-03 8.38919551e+01] [ 4.28340323e-01 9.03615823e-01 -1.73565649e-03 1.70212090e+01] [ 4.28436879e-03 -1.10143448e-04 9.99990816e-01 1.55472234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:83.92, Y:17.03, Z:0.15 [[ 9.03786034e-01 -4.27966646e-01 -3.91846172e-03 8.39190150e+01] [ 4.27963139e-01 9.03794522e-01 -1.73597383e-03 1.70277598e+01] [ 4.28442314e-03 -1.08008275e-04 9.99990816e-01 1.53774143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:83.95, Y:17.04, Z:0.15 [[ 9.03858870e-01 -4.27812800e-01 -3.91814289e-03 8.39453563e+01] [ 4.27809288e-01 9.03867356e-01 -1.73669315e-03 1.70365574e+01] [ 4.28446101e-03 -1.06492418e-04 9.99990816e-01 1.54391351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:83.97, Y:17.04, Z:0.15 [[ 9.03855529e-01 -4.27819858e-01 -3.91804615e-03 8.39711549e+01] [ 4.27816346e-01 9.03864015e-01 -1.73691136e-03 1.70447775e+01] [ 4.28446610e-03 -1.06287249e-04 9.99990816e-01 1.54833727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.00, Y:17.05, Z:0.15 [[ 9.04204874e-01 -4.27081019e-01 -3.91783709e-03 8.39981056e+01] [ 4.27077497e-01 9.04213356e-01 -1.73738281e-03 1.70500774e+01] [ 4.28456384e-03 -1.02270053e-04 9.99990816e-01 1.54868776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.02, Y:17.06, Z:0.16 [[ 9.04384027e-01 -4.26701516e-01 -3.91770503e-03 8.40243640e+01] [ 4.26697989e-01 9.04392507e-01 -1.73768054e-03 1.70590412e+01] [ 4.28461400e-03 -1.00146341e-04 9.99990816e-01 1.55087023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.05, Y:17.07, Z:0.15 [[ 9.04748611e-01 -4.25927934e-01 -3.91742042e-03 8.40507951e+01] [ 4.25924397e-01 9.04757087e-01 -1.73832193e-03 1.70678677e+01] [ 4.28471376e-03 -9.57805840e-05 9.99990816e-01 1.54739284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.08, Y:17.07, Z:0.15 [[ 9.06192921e-01 -4.22846362e-01 -3.91711497e-03 8.40781596e+01] [ 4.22842793e-01 9.06201384e-01 -1.73900996e-03 1.70746144e+01] [ 4.28502904e-03 -8.04453175e-05 9.99990816e-01 1.54180656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.11, Y:17.08, Z:0.16 [[ 9.07148423e-01 -4.20792581e-01 -3.91702028e-03 8.41050410e+01] [ 4.20788993e-01 9.07156877e-01 -1.73922322e-03 1.70841345e+01] [ 4.28520411e-03 -7.05054159e-05 9.99990816e-01 1.55981859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.618623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:84.13, Y:17.09, Z:0.16 [[ 9.09568852e-01 -4.15534791e-01 -3.91669818e-03 8.41321147e+01] [ 4.15531151e-01 9.09577284e-01 -1.73994828e-03 1.70919315e+01] [ 4.28554874e-03 -4.49073450e-05 9.99990816e-01 1.56513139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.16, Y:17.10, Z:0.16 [[ 9.10951866e-01 -4.12494071e-01 -3.91639346e-03 8.41582152e+01] [ 4.12490400e-01 9.10960285e-01 -1.74063389e-03 1.71025178e+01] [ 4.28568006e-03 -2.98410077e-05 9.99990816e-01 1.57328256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.18, Y:17.11, Z:0.15 [[ 9.12418300e-01 -4.09240162e-01 -3.91606788e-03 8.41839606e+01] [ 4.09236457e-01 9.12426704e-01 -1.74136607e-03 1.71130695e+01] [ 4.28576184e-03 -1.37434728e-05 9.99990816e-01 1.54785423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:84.21, Y:17.12, Z:0.16 [[ 9.13908899e-01 -4.05900468e-01 -3.91596672e-03 8.42096917e+01] [ 4.05896731e-01 9.13917289e-01 -1.74159354e-03 1.71233769e+01] [ 4.28578331e-03 2.17974320e-06 9.99990816e-01 1.57380945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.738623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.24, Y:17.13, Z:0.16 [[ 9.16731532e-01 -3.99484624e-01 -3.91564164e-03 8.42355758e+01] [ 3.99480826e-01 9.16739894e-01 -1.74232409e-03 1.71323063e+01] [ 4.28565659e-03 3.30196771e-05 9.99990816e-01 1.56951580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.26, Y:17.14, Z:0.16 [[ 9.18053650e-01 -3.96436837e-01 -3.91550022e-03 8.42604652e+01] [ 3.96433009e-01 9.18061998e-01 -1.74264186e-03 1.71433741e+01] [ 4.28551938e-03 4.76051897e-05 9.99990816e-01 1.57223308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.29, Y:17.16, Z:0.16 [[ 9.20476638e-01 -3.90777978e-01 -3.91535984e-03 8.42855408e+01] [ 3.90774099e-01 9.20484962e-01 -1.74295720e-03 1.71555572e+01] [ 4.28513915e-03 7.43301676e-05 9.99990816e-01 1.57016409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:84.31, Y:17.17, Z:0.17 [[ 9.21407644e-01 -3.88577693e-01 -3.91526038e-03 8.43105672e+01] [ 3.88573793e-01 9.21415959e-01 -1.74318059e-03 1.71673884e+01] [ 4.28494449e-03 8.48123504e-05 9.99990816e-01 1.65008580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.34, Y:17.18, Z:0.16 [[ 9.22170454e-01 -3.86763916e-01 -3.91494301e-03 8.43364310e+01] [ 3.86759996e-01 9.22178760e-01 -1.74389308e-03 1.71791806e+01] [ 4.28475220e-03 9.40233297e-05 9.99990816e-01 1.60275492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.36, Y:17.19, Z:0.16 [[ 9.23674425e-01 -3.83158233e-01 -3.91462735e-03 8.43604840e+01] [ 3.83154278e-01 9.23682714e-01 -1.74460136e-03 1.71931419e+01] [ 4.28433199e-03 1.11537440e-04 9.99990816e-01 1.62548739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.39, Y:17.21, Z:0.16 [[ 9.24296713e-01 -3.81654640e-01 -3.91430132e-03 8.43851011e+01] [ 3.81650667e-01 9.24304994e-01 -1.74533255e-03 1.72061301e+01] [ 4.28412253e-03 1.19309430e-04 9.99990816e-01 1.60634363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.41, Y:17.22, Z:0.16 [[ 9.24228645e-01 -3.81819447e-01 -3.91420086e-03 8.44110327e+01] [ 3.81815475e-01 9.24236926e-01 -1.74555784e-03 1.72179152e+01] [ 4.28413690e-03 1.18792097e-04 9.99990816e-01 1.60756435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.978623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.44, Y:17.23, Z:0.16 [[ 9.24658075e-01 -3.80778316e-01 -3.91388948e-03 8.44356314e+01] [ 3.80774332e-01 9.24666350e-01 -1.74625574e-03 1.72306821e+01] [ 4.28397822e-03 1.24380818e-04 9.99990816e-01 1.59748960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:84.46, Y:17.24, Z:0.16 [[ 9.25256311e-01 -3.79322347e-01 -3.91357946e-03 8.44596071e+01] [ 3.79318347e-01 9.25264578e-01 -1.74695025e-03 1.72448579e+01] [ 4.28375372e-03 1.31884250e-04 9.99990816e-01 1.61060692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.038623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.48, Y:17.26, Z:0.16 [[ 9.25363602e-01 -3.79060538e-01 -3.91325861e-03 8.44839838e+01] [ 3.79056532e-01 9.25371866e-01 -1.74766867e-03 1.72585558e+01] [ 4.28369165e-03 1.33882733e-04 9.99990816e-01 1.61575754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.51, Y:17.27, Z:0.16 [[ 9.25343761e-01 -3.79108973e-01 -3.91293863e-03 8.45074228e+01] [ 3.79104965e-01 9.25352024e-01 -1.74838480e-03 1.72748040e+01] [ 4.28367405e-03 1.34442502e-04 9.99990816e-01 1.62663490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.098623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:84.53, Y:17.29, Z:0.16 [[ 9.25168636e-01 -3.79536144e-01 -3.91278969e-03 8.45320038e+01] [ 3.79532138e-01 9.25176901e-01 -1.74871805e-03 1.72889297e+01] [ 4.28372435e-03 1.32829651e-04 9.99990816e-01 1.63938809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.55, Y:17.31, Z:0.16 [[ 9.24650505e-01 -3.80796713e-01 -3.91246526e-03 8.45548172e+01] [ 3.80792716e-01 9.24658773e-01 -1.74944360e-03 1.73071107e+01] [ 4.28387770e-03 1.27785634e-04 9.99990816e-01 1.63566767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.58, Y:17.32, Z:0.16 [[ 9.24285685e-01 -3.81681368e-01 -3.91231255e-03 8.45790842e+01] [ 3.81677378e-01 9.24293956e-01 -1.74978505e-03 1.73218223e+01] [ 4.28398720e-03 1.24060073e-04 9.99990816e-01 1.62553497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.60, Y:17.34, Z:0.16 [[ 9.23768448e-01 -3.82931520e-01 -3.91221821e-03 8.46030890e+01] [ 3.82927540e-01 9.23776725e-01 -1.74999595e-03 1.73358858e+01] [ 4.28414474e-03 1.18494948e-04 9.99990816e-01 1.61181497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:84.63, Y:17.35, Z:0.17 [[ 9.22557512e-01 -3.85839777e-01 -3.91191633e-03 8.46264953e+01] [ 3.85835819e-01 9.22565800e-01 -1.75067052e-03 1.73524749e+01] [ 4.28447854e-03 1.05736800e-04 9.99990816e-01 1.65299447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.65, Y:17.37, Z:0.16 [[ 9.21815626e-01 -3.87608890e-01 -3.91158881e-03 8.46510622e+01] [ 3.87604946e-01 9.21823920e-01 -1.75140200e-03 1.73672634e+01] [ 4.28465511e-03 9.83185597e-05 9.99990816e-01 1.62396770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.67, Y:17.39, Z:0.16 [[ 9.20307674e-01 -3.91175776e-01 -3.91125245e-03 8.46730625e+01] [ 3.91171860e-01 9.20315981e-01 -1.75215284e-03 1.73858594e+01] [ 4.28498788e-03 8.25478041e-05 9.99990816e-01 1.61391397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.70, Y:17.40, Z:0.16 [[ 9.19196638e-01 -3.93779434e-01 -3.91114752e-03 8.46972036e+01] [ 3.93775541e-01 9.19204957e-01 -1.75238703e-03 1.74005079e+01] [ 4.28520016e-03 7.06740302e-05 9.99990816e-01 1.61607743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.338623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.72, Y:17.41, Z:0.16 [[ 9.17917599e-01 -3.96751796e-01 -3.91081828e-03 8.47222392e+01] [ 3.96747927e-01 9.17925928e-01 -1.75312150e-03 1.74142085e+01] [ 4.28539560e-03 5.76120334e-05 9.99990816e-01 1.62321614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.368623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.75, Y:17.43, Z:0.16 [[ 9.16473718e-01 -4.00075782e-01 -3.91048368e-03 8.47461350e+01] [ 4.00071940e-01 9.16482060e-01 -1.75386753e-03 1.74271756e+01] [ 4.28556806e-03 4.28987051e-05 9.99990816e-01 1.62111264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.398623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:84.77, Y:17.44, Z:0.17 [[ 9.13282695e-01 -4.07307535e-01 -3.91033796e-03 8.47705104e+01] [ 4.07303757e-01 9.13291066e-01 -1.75419236e-03 1.74439222e+01] [ 4.28577249e-03 9.37818753e-06 9.99990816e-01 1.65655773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.79, Y:17.46, Z:0.17 [[ 9.10125690e-01 -4.14313819e-01 -3.91004159e-03 8.47937329e+01] [ 4.14310104e-01 9.10134088e-01 -1.75485272e-03 1.74591783e+01] [ 4.28572187e-03 -2.28331933e-05 9.99990816e-01 1.66587369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.458623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.82, Y:17.47, Z:0.17 [[ 9.08453816e-01 -4.17966956e-01 -3.90993669e-03 8.48185533e+01] [ 4.17963273e-01 9.08462230e-01 -1.75508641e-03 1.74714009e+01] [ 4.28559792e-03 -3.97949882e-05 9.99990816e-01 1.66540850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.84, Y:17.48, Z:0.17 [[ 9.06886008e-01 -4.21357905e-01 -3.90960615e-03 8.48428516e+01] [ 4.21354250e-01 9.06894433e-01 -1.75582239e-03 1.74826640e+01] [ 4.28542970e-03 -5.49984091e-05 9.99990816e-01 1.65422263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.87, Y:17.49, Z:0.17 [[ 9.05189177e-01 -4.24990906e-01 -3.90946326e-03 8.48682257e+01] [ 4.24987283e-01 9.05197616e-01 -1.75614050e-03 1.74940838e+01] [ 4.28518057e-03 -7.18327980e-05 9.99990816e-01 1.66493564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:84.89, Y:17.50, Z:0.17 [[ 9.02146518e-01 -4.31412076e-01 -3.90913371e-03 8.48943312e+01] [ 4.31408511e-01 9.02154981e-01 -1.75687376e-03 1.75038245e+01] [ 4.28458101e-03 -1.01476010e-04 9.99990816e-01 1.67646723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.92, Y:17.51, Z:0.17 [[ 9.00674624e-01 -4.34476628e-01 -3.90903095e-03 8.49198655e+01] [ 4.34473091e-01 9.00683100e-01 -1.75710237e-03 1.75148346e+01] [ 4.28421803e-03 -1.15791246e-04 9.99990816e-01 1.68546731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:17.52, Z:0.17 [[ 8.98245566e-01 -4.39476534e-01 -3.90893033e-03 8.49449022e+01] [ 4.39473042e-01 8.98254060e-01 -1.75732618e-03 1.75241744e+01] [ 4.28351616e-03 -1.39359052e-04 9.99990816e-01 1.66653104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.97, Y:17.53, Z:0.17 [[ 8.97178148e-01 -4.41651551e-01 -3.90879054e-03 8.49708267e+01] [ 4.41648079e-01 8.97186650e-01 -1.75763706e-03 1.75344848e+01] [ 4.28317783e-03 -1.49396276e-04 9.99990816e-01 1.68727257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.00, Y:17.54, Z:0.17 [[ 8.96378903e-01 -4.43271459e-01 -3.90847047e-03 8.49968365e+01] [ 4.43267999e-01 8.96387410e-01 -1.75834853e-03 1.75447485e+01] [ 4.28292944e-03 -1.56353361e-04 9.99990816e-01 1.68074303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.698623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.02, Y:17.55, Z:0.17 [[ 8.95439624e-01 -4.45165817e-01 -3.90837122e-03 8.50235249e+01] [ 4.45162375e-01 8.95448138e-01 -1.75856909e-03 1.75525753e+01] [ 4.28259858e-03 -1.65167370e-04 9.99990816e-01 1.67669611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.05, Y:17.56, Z:0.17 [[ 8.95351560e-01 -4.45342914e-01 -3.90804415e-03 8.50490389e+01] [ 4.45339470e-01 8.95360074e-01 -1.75929564e-03 1.75613427e+01] [ 4.28259655e-03 -1.65218217e-04 9.99990816e-01 1.66805221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.758623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.08, Y:17.57, Z:0.17 [[ 8.95340820e-01 -4.45364509e-01 -3.90782174e-03 8.50750001e+01] [ 4.45361063e-01 8.95349332e-01 -1.75978952e-03 1.75706213e+01] [ 4.28261339e-03 -1.64780253e-04 9.99990816e-01 1.67236246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:85.10, Y:17.58, Z:0.17 [[ 8.96143866e-01 -4.43746440e-01 -3.90750607e-03 8.51012531e+01] [ 4.43742975e-01 8.96152371e-01 -1.76049019e-03 1.75780514e+01] [ 4.28293208e-03 -1.56275885e-04 9.99990816e-01 1.67875774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.818623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.13, Y:17.59, Z:0.17 [[ 8.96654011e-01 -4.42714714e-01 -3.90736923e-03 8.51271690e+01] [ 4.42711238e-01 8.96662511e-01 -1.76079385e-03 1.75880607e+01] [ 4.28312085e-03 -1.51013399e-04 9.99990816e-01 1.68875600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:85.15, Y:17.60, Z:0.17 [[ 8.98175223e-01 -4.39620294e-01 -3.90704936e-03 8.51548164e+01] [ 4.39616786e-01 8.98183711e-01 -1.76150332e-03 1.75952106e+01] [ 4.28364070e-03 -1.35465839e-04 9.99990816e-01 1.70739699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:85.18, Y:17.60, Z:0.17 [[ 8.98976796e-01 -4.37978833e-01 -3.90671726e-03 8.51808465e+01] [ 4.37975306e-01 8.98985276e-01 -1.76223955e-03 1.76044048e+01] [ 4.28390491e-03 -1.26833225e-04 9.99990816e-01 1.70979786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:17.61, Z:0.17 [[ 8.99974765e-01 -4.35924493e-01 -3.90638079e-03 8.52065610e+01] [ 4.35920943e-01 8.99983235e-01 -1.76298510e-03 1.76130183e+01] [ 4.28420560e-03 -1.16231094e-04 9.99990816e-01 1.70316860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.23, Y:17.62, Z:0.17 [[ 9.01937205e-01 -4.31849534e-01 -3.90623471e-03 8.52338104e+01] [ 4.31845945e-01 9.01945658e-01 -1.76330869e-03 1.76195322e+01] [ 4.28469548e-03 -9.64979099e-05 9.99990816e-01 1.69723192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.26, Y:17.63, Z:0.17 [[ 9.02905842e-01 -4.29820642e-01 -3.90590782e-03 8.52597851e+01] [ 4.29817031e-01 9.02914286e-01 -1.76403251e-03 1.76290817e+01] [ 4.28491755e-03 -8.60704405e-05 9.99990816e-01 1.71000386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.29, Y:17.64, Z:0.17 [[ 9.03939129e-01 -4.27643306e-01 -3.90556639e-03 8.52852359e+01] [ 4.27639671e-01 9.03947563e-01 -1.76478811e-03 1.76381115e+01] [ 4.28512704e-03 -7.49140973e-05 9.99990816e-01 1.70229549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.31, Y:17.64, Z:0.17 [[ 9.05815501e-01 -4.23654372e-01 -3.90533343e-03 8.53117616e+01] [ 4.23650698e-01 9.05823918e-01 -1.76530347e-03 1.76448575e+01] [ 4.28542296e-03 -5.54579827e-05 9.99990816e-01 1.70071015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.058623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.34, Y:17.65, Z:0.17 [[ 9.06672681e-01 -4.21816784e-01 -3.90518924e-03 8.53381380e+01] [ 4.21813091e-01 9.06681090e-01 -1.76562239e-03 1.76542621e+01] [ 4.28553040e-03 -4.64183647e-05 9.99990816e-01 1.69688036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:85.37, Y:17.66, Z:0.17 [[ 9.08193573e-01 -4.18532181e-01 -3.90485947e-03 8.53653310e+01] [ 4.18528454e-01 9.08201967e-01 -1.76635141e-03 1.76623918e+01] [ 4.28567596e-03 -3.01058062e-05 9.99990816e-01 1.69179399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.39, Y:17.67, Z:0.17 [[ 9.08781898e-01 -4.17253181e-01 -3.90452771e-03 8.53913911e+01] [ 4.17249440e-01 9.08790285e-01 -1.76708446e-03 1.76722442e+01] [ 4.28571846e-03 -2.32676342e-05 9.99990816e-01 1.69473145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.42, Y:17.68, Z:0.17 [[ 9.09273809e-01 -4.16180126e-01 -3.90419457e-03 8.54177229e+01] [ 4.16176372e-01 9.09282191e-01 -1.76782021e-03 1.76820662e+01] [ 4.28574622e-03 -1.74009170e-05 9.99990816e-01 1.70206348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.178623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:85.44, Y:17.69, Z:0.17 [[ 9.10201289e-01 -4.14147767e-01 -3.90386141e-03 8.54445033e+01] [ 4.14143991e-01 9.10209661e-01 -1.76855560e-03 1.76900996e+01] [ 4.28577573e-03 -7.01916353e-06 9.99990816e-01 1.71526068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:85.47, Y:17.70, Z:0.17 [[ 9.10644429e-01 -4.13172466e-01 -3.90351676e-03 8.54698985e+01] [ 4.13168678e-01 9.10652795e-01 -1.76931598e-03 1.76998948e+01] [ 4.28578110e-03 -1.59312330e-06 9.99990816e-01 1.71311817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.238623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.50, Y:17.71, Z:0.17 [[ 9.11276990e-01 -4.11775437e-01 -3.90336733e-03 8.54959241e+01] [ 4.11771635e-01 9.11285350e-01 -1.76964559e-03 1.77090260e+01] [ 4.28577805e-03 5.34135791e-06 9.99990816e-01 1.71132832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:85.52, Y:17.72, Z:0.17 [[ 9.11404931e-01 -4.11492183e-01 -3.90321873e-03 8.55214511e+01] [ 4.11488377e-01 9.11413289e-01 -1.76997328e-03 1.77190368e+01] [ 4.28577559e-03 7.03323390e-06 9.99990816e-01 1.70167435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:85.55, Y:17.73, Z:0.17 [[ 9.11348391e-01 -4.11617391e-01 -3.90311437e-03 8.55479241e+01] [ 4.11613585e-01 9.11356749e-01 -1.77020339e-03 1.77295658e+01] [ 4.28577612e-03 6.69711608e-06 9.99990816e-01 1.69906388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.57, Y:17.74, Z:0.17 [[ 9.11170202e-01 -4.12011688e-01 -3.90278172e-03 8.55741417e+01] [ 4.12007882e-01 9.11178560e-01 -1.77093648e-03 1.77390387e+01] [ 4.28577756e-03 5.64771699e-06 9.99990816e-01 1.70350253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.60, Y:17.75, Z:0.17 [[ 9.11178336e-01 -4.11993703e-01 -3.90244254e-03 8.55990348e+01] [ 4.11989894e-01 9.11186692e-01 -1.77168357e-03 1.77486723e+01] [ 4.28577619e-03 6.55279958e-06 9.99990816e-01 1.70109389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38862385300001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:85.63, Y:17.76, Z:0.17 [[ 9.11143607e-01 -4.12070504e-01 -3.90221157e-03 8.56252444e+01] [ 4.12066693e-01 9.11151963e-01 -1.77219217e-03 1.77591793e+01] [ 4.28577585e-03 6.75015005e-06 9.99990816e-01 1.71463160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.65, Y:17.77, Z:0.17 [[ 9.11237624e-01 -4.11862559e-01 -3.90185993e-03 8.56512285e+01] [ 4.11858743e-01 9.11245978e-01 -1.77296603e-03 1.77690454e+01] [ 4.28577249e-03 8.57823251e-06 9.99990816e-01 1.71385078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.68, Y:17.78, Z:0.17 [[ 9.10984132e-01 -4.12422947e-01 -3.90175077e-03 8.56775929e+01] [ 4.12419135e-01 9.10992488e-01 -1.77320624e-03 1.77787188e+01] [ 4.28577658e-03 6.20606838e-06 9.99990816e-01 1.72051019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.478623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.70, Y:17.79, Z:0.17 [[ 9.10641914e-01 -4.13178027e-01 -3.90164596e-03 8.57024915e+01] [ 4.13174221e-01 9.10650272e-01 -1.77343682e-03 1.77887470e+01] [ 4.28578008e-03 2.90637437e-06 9.99990816e-01 1.72272915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.73, Y:17.80, Z:0.17 [[ 9.10246030e-01 -4.14049446e-01 -3.90141794e-03 8.57283215e+01] [ 4.14045646e-01 9.10254391e-01 -1.77393830e-03 1.77996365e+01] [ 4.28578098e-03 -6.44815888e-07 9.99990816e-01 1.72319614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.538623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:85.75, Y:17.81, Z:0.17 [[ 9.09837266e-01 -4.14946902e-01 -3.90108102e-03 8.57535685e+01] [ 4.14943107e-01 9.09845629e-01 -1.77467892e-03 1.78103541e+01] [ 4.28577903e-03 -4.05766556e-06 9.99990816e-01 1.71713463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.78, Y:17.82, Z:0.17 [[ 9.09053012e-01 -4.16662219e-01 -3.90085079e-03 8.57803440e+01] [ 4.16658437e-01 9.09061382e-01 -1.77518484e-03 1.78203080e+01] [ 4.28576526e-03 -1.15852692e-05 9.99990816e-01 1.72286764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.81, Y:17.83, Z:0.17 [[ 9.08521251e-01 -4.17820441e-01 -3.90063729e-03 8.58056351e+01] [ 4.17816668e-01 9.08529625e-01 -1.77565382e-03 1.78306084e+01] [ 4.28574900e-03 -1.65320480e-05 9.99990816e-01 1.71794069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:17.84, Z:0.17 [[ 9.07627503e-01 -4.19758387e-01 -3.90040484e-03 8.58319967e+01] [ 4.19754630e-01 9.07635883e-01 -1.77616428e-03 1.78396847e+01] [ 4.28570724e-03 -2.51174400e-05 9.99990816e-01 1.72297037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.86, Y:17.85, Z:0.17 [[ 9.07373011e-01 -4.20308231e-01 -3.90005818e-03 8.58569113e+01] [ 4.20304475e-01 9.07381392e-01 -1.77692514e-03 1.78495160e+01] [ 4.28569648e-03 -2.68779913e-05 9.99990816e-01 1.71427212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.88, Y:17.86, Z:0.17 [[ 9.07185151e-01 -4.20713553e-01 -3.89990759e-03 8.58829757e+01] [ 4.20709800e-01 9.07193533e-01 -1.77725558e-03 1.78600062e+01] [ 4.28568646e-03 -2.84294668e-05 9.99990816e-01 1.72124412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.91, Y:17.87, Z:0.17 [[ 9.07358600e-01 -4.20339343e-01 -3.89956752e-03 8.59093094e+01] [ 4.20335584e-01 9.07366980e-01 -1.77800145e-03 1.78702612e+01] [ 4.28570276e-03 -2.58420841e-05 9.99990816e-01 1.72894163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.93, Y:17.88, Z:0.17 [[ 9.07444338e-01 -4.20154221e-01 -3.89922786e-03 8.59347928e+01] [ 4.20150457e-01 9.07452715e-01 -1.77874601e-03 1.78819873e+01] [ 4.28571256e-03 -2.41493741e-05 9.99990816e-01 1.72617157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:85.96, Y:17.89, Z:0.17 [[ 9.07753590e-01 -4.19485659e-01 -3.89889034e-03 8.59607089e+01] [ 4.19481885e-01 9.07761963e-01 -1.77948554e-03 1.78916408e+01] [ 4.28573301e-03 -2.01794829e-05 9.99990816e-01 1.72956516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.99, Y:17.90, Z:0.17 [[ 9.07791417e-01 -4.19403794e-01 -3.89878532e-03 8.59867348e+01] [ 4.19400019e-01 9.07799789e-01 -1.77971560e-03 1.79018498e+01] [ 4.28573597e-03 -1.95400843e-05 9.99990816e-01 1.73068522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.838623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.01, Y:17.91, Z:0.17 [[ 9.07712338e-01 -4.19574919e-01 -3.89845058e-03 8.60125685e+01] [ 4.19571142e-01 9.07720710e-01 -1.78044853e-03 1.79138637e+01] [ 4.28573588e-03 -1.95422598e-05 9.99990816e-01 1.73190589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.04, Y:17.92, Z:0.17 [[ 9.07757913e-01 -4.19476311e-01 -3.89811481e-03 8.60378300e+01] [ 4.19472530e-01 9.07766283e-01 -1.78118338e-03 1.79238976e+01] [ 4.28574142e-03 -1.82687700e-05 9.99990816e-01 1.73028394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.898623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:86.06, Y:17.93, Z:0.17 [[ 9.08160911e-01 -4.18603113e-01 -3.89796885e-03 8.60642018e+01] [ 4.18599322e-01 9.08169276e-01 -1.78150273e-03 1.79336095e+01] [ 4.28575814e-03 -1.37959753e-05 9.99990816e-01 1.72957377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:86.09, Y:17.94, Z:0.17 [[ 9.08500454e-01 -4.17865689e-01 -3.89763623e-03 8.60896751e+01] [ 4.17861889e-01 9.08508814e-01 -1.78223017e-03 1.79447203e+01] [ 4.28576970e-03 -9.51672101e-06 9.99990816e-01 1.72295689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.12, Y:17.95, Z:0.17 [[ 9.09320259e-01 -4.16078689e-01 -3.89753266e-03 8.61155741e+01] [ 4.16074871e-01 9.09328612e-01 -1.78245662e-03 1.79546798e+01] [ 4.28578018e-03 -8.41479478e-07 9.99990816e-01 1.70423912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:17.97, Z:0.17 [[ 9.09754534e-01 -4.15128291e-01 -3.89743008e-03 8.61415411e+01] [ 4.15124463e-01 9.09762882e-01 -1.78268088e-03 1.79657792e+01] [ 4.28577850e-03 3.88344472e-06 9.99990816e-01 1.70628769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.17, Y:17.98, Z:0.17 [[ 9.10286662e-01 -4.13960149e-01 -3.89710013e-03 8.61673553e+01] [ 4.13956307e-01 9.10295004e-01 -1.78340191e-03 1.79773788e+01] [ 4.28576810e-03 1.01777945e-05 9.99990816e-01 1.70922490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.19, Y:17.99, Z:0.17 [[ 9.11543106e-01 -4.11186063e-01 -3.89699767e-03 8.61929662e+01] [ 4.11182196e-01 9.11551436e-01 -1.78362575e-03 1.79887228e+01] [ 4.28571588e-03 2.34756979e-05 9.99990816e-01 1.72148882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.22, Y:18.00, Z:0.17 [[ 9.12226480e-01 -4.09667749e-01 -3.89667366e-03 8.62186780e+01] [ 4.09663865e-01 9.12234802e-01 -1.78433334e-03 1.80004228e+01] [ 4.28566515e-03 3.13897325e-05 9.99990816e-01 1.73727405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.24, Y:18.01, Z:0.17 [[ 9.13725668e-01 -4.06312960e-01 -3.89633527e-03 8.62432862e+01] [ 4.06309042e-01 9.13733975e-01 -1.78507196e-03 1.80134820e+01] [ 4.28551178e-03 4.79498237e-05 9.99990816e-01 1.71740809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.27, Y:18.03, Z:0.17 [[ 9.14498443e-01 -4.04570659e-01 -3.89623036e-03 8.62677467e+01] [ 4.04566724e-01 9.14506741e-01 -1.78530092e-03 1.80263838e+01] [ 4.28540929e-03 5.63697657e-05 9.99990816e-01 1.71846358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:18.04, Z:0.17 [[ 9.15292461e-01 -4.02771068e-01 -3.89591228e-03 8.62922419e+01] [ 4.02767114e-01 9.15300750e-01 -1.78599476e-03 1.80392252e+01] [ 4.28527845e-03 6.55621939e-05 9.99990816e-01 1.74704122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:18.05, Z:0.17 [[ 9.16158971e-01 -4.00796163e-01 -3.89555368e-03 8.63174446e+01] [ 4.00792187e-01 9.16167250e-01 -1.78677659e-03 1.80520750e+01] [ 4.28511190e-03 7.56639234e-05 9.99990816e-01 1.69472110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:86.34, Y:18.07, Z:0.17 [[ 9.17456861e-01 -3.97816207e-01 -3.89544234e-03 8.63416749e+01] [ 3.97812203e-01 9.17465126e-01 -1.78701930e-03 1.80656482e+01] [ 4.28483773e-03 8.98586213e-05 9.99990816e-01 1.68348563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:18.08, Z:0.17 [[ 9.17859864e-01 -3.96885497e-01 -3.89512859e-03 8.63664833e+01] [ 3.96881482e-01 9.17868124e-01 -1.78770290e-03 1.80797020e+01] [ 4.28472773e-03 9.49563380e-05 9.99990816e-01 1.68945140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:18.10, Z:0.17 [[ 9.18373462e-01 -3.95695608e-01 -3.89481525e-03 8.63901966e+01] [ 3.95691580e-01 9.18381715e-01 -1.78838530e-03 1.80974509e+01] [ 4.28458332e-03 1.01260004e-04 9.99990816e-01 1.73758131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:18.11, Z:0.17 [[ 9.18451507e-01 -3.95514427e-01 -3.89451306e-03 8.64140031e+01] [ 3.95510394e-01 9.18459758e-01 -1.78904314e-03 1.81111763e+01] [ 4.28454590e-03 1.02828969e-04 9.99990816e-01 1.70447096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:18.13, Z:0.18 [[ 9.18272196e-01 -3.95930560e-01 -3.89440606e-03 8.64378667e+01] [ 3.95926530e-01 9.18280448e-01 -1.78927603e-03 1.81274360e+01] [ 4.28458600e-03 1.01143751e-04 9.99990816e-01 1.75568408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:18.14, Z:0.18 [[ 9.18113133e-01 -3.96299270e-01 -3.89410915e-03 8.64613802e+01] [ 3.96295240e-01 9.18121386e-01 -1.78992198e-03 1.81417927e+01] [ 4.28460966e-03 1.00133961e-04 9.99990816e-01 1.76111223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:18.16, Z:0.18 [[ 9.17877926e-01 -3.96843735e-01 -3.89387788e-03 8.64846549e+01] [ 3.96839708e-01 9.17886180e-01 -1.79042494e-03 1.81561535e+01] [ 4.28465562e-03 9.81461675e-05 9.99990816e-01 1.75637045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:18.17, Z:0.18 [[ 9.17063033e-01 -3.98723253e-01 -3.89373047e-03 8.65079730e+01] [ 3.98719242e-01 9.17071295e-01 -1.79074547e-03 1.81733969e+01] [ 4.28484030e-03 8.97212056e-05 9.99990816e-01 1.77268776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:18.19, Z:0.18 [[ 9.16451726e-01 -4.00126323e-01 -3.89343878e-03 8.65323881e+01] [ 4.00122322e-01 9.16459993e-01 -1.79137945e-03 1.81880527e+01] [ 4.28495895e-03 8.38610242e-05 9.99990816e-01 1.77326199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:18.20, Z:0.18 [[ 9.14838646e-01 -4.03800812e-01 -3.89310347e-03 8.65559052e+01] [ 4.03796841e-01 9.14846927e-01 -1.79210786e-03 1.82048656e+01] [ 4.28524835e-03 6.74666513e-05 9.99990816e-01 1.77300988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:18.22, Z:0.18 [[ 9.13690247e-01 -4.06392642e-01 -3.89278821e-03 8.65807918e+01] [ 4.06388691e-01 9.13698538e-01 -1.79279240e-03 1.82188533e+01] [ 4.28541253e-03 5.60718273e-05 9.99990816e-01 1.78357155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:18.23, Z:0.18 [[ 9.12508504e-01 -4.09039216e-01 -3.89243741e-03 8.66049642e+01] [ 4.09035286e-01 9.12516804e-01 -1.79355371e-03 1.82324770e+01] [ 4.28554835e-03 4.44887666e-05 9.99990816e-01 1.78696658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:18.25, Z:0.18 [[ 9.09937580e-01 -4.14726961e-01 -3.89208646e-03 8.66270791e+01] [ 4.14723080e-01 9.09945904e-01 -1.79431496e-03 1.82484654e+01] [ 4.28573892e-03 1.85765272e-05 9.99990816e-01 1.78614559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:18.26, Z:0.18 [[ 9.08569834e-01 -4.17714867e-01 -3.89193398e-03 8.66511613e+01] [ 4.17711012e-01 9.08578169e-01 -1.79464564e-03 1.82618934e+01] [ 4.28577642e-03 4.85721218e-06 9.99990816e-01 1.78615677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:18.28, Z:0.18 [[ 9.05767427e-01 -4.23757269e-01 -3.89178213e-03 8.66747081e+01] [ 4.23753468e-01 9.05775787e-01 -1.79497488e-03 1.82757581e+01] [ 4.28571567e-03 -2.33263908e-05 9.99990816e-01 1.78940488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:18.29, Z:0.18 [[ 9.04332888e-01 -4.26810126e-01 -3.89163108e-03 8.66990205e+01] [ 4.26806352e-01 9.04341260e-01 -1.79530230e-03 1.82882218e+01] [ 4.28561576e-03 -3.74219551e-05 9.99990816e-01 1.79407272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:18.30, Z:0.18 [[ 9.02949863e-01 -4.29728288e-01 -3.89139703e-03 8.67241806e+01] [ 4.29724538e-01 9.02958247e-01 -1.79580948e-03 1.83009753e+01] [ 4.28547917e-03 -5.07028629e-05 9.99990816e-01 1.80141086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:18.31, Z:0.18 [[ 9.00633918e-01 -4.34561165e-01 -3.89105694e-03 8.67494049e+01] [ 4.34557457e-01 9.00642320e-01 -1.79654607e-03 1.83135096e+01] [ 4.28515970e-03 -7.28574815e-05 9.99990816e-01 1.78906489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:18.33, Z:0.18 [[ 8.99607948e-01 -4.36681123e-01 -3.89071940e-03 8.67745447e+01] [ 4.36677432e-01 8.99616357e-01 -1.79727677e-03 1.83255774e+01] [ 4.28499165e-03 -8.21448872e-05 9.99990816e-01 1.77609624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:18.34, Z:0.18 [[ 8.98353980e-01 -4.39255041e-01 -3.89038287e-03 8.68011777e+01] [ 4.39251371e-01 8.98362399e-01 -1.79800492e-03 1.83371942e+01] [ 4.28475641e-03 -9.36111366e-05 9.99990816e-01 1.75992064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:18.35, Z:0.18 [[ 8.98160667e-01 -4.39650183e-01 -3.89008877e-03 8.68255507e+01] [ 4.39646514e-01 8.98169086e-01 -1.79864099e-03 1.83486169e+01] [ 4.28473032e-03 -9.47953754e-05 9.99990816e-01 1.75300243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85862385300001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:86.85, Y:18.36, Z:0.18 [[ 8.98288737e-01 -4.39388453e-01 -3.88994239e-03 8.68520200e+01] [ 4.39384780e-01 8.98297155e-01 -1.79895753e-03 1.83611896e+01] [ 4.28476534e-03 -9.31981926e-05 9.99990816e-01 1.81106034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:18.37, Z:0.17 [[ 8.99316869e-01 -4.37280276e-01 -3.88966998e-03 8.68766817e+01] [ 4.37276581e-01 8.99325277e-01 -1.79954632e-03 1.83734105e+01] [ 4.28498464e-03 -8.24992296e-05 9.99990816e-01 1.74781188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:18.39, Z:0.18 [[ 9.00228073e-01 -4.35401296e-01 -3.88944084e-03 8.69017150e+01] [ 4.35397582e-01 9.00236472e-01 -1.80004143e-03 1.83854828e+01] [ 4.28515688e-03 -7.30053044e-05 9.99990816e-01 1.75345645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:18.40, Z:0.17 [[ 9.02327529e-01 -4.31033530e-01 -3.88933798e-03 8.69258699e+01] [ 4.31029774e-01 9.02335909e-01 -1.80026367e-03 1.83977246e+01] [ 4.28546332e-03 -5.19930034e-05 9.99990816e-01 1.74498184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.978623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:86.95, Y:18.41, Z:0.18 [[ 9.03431099e-01 -4.28715668e-01 -3.88919665e-03 8.69513923e+01] [ 4.28711889e-01 9.03439469e-01 -1.80056892e-03 1.84105005e+01] [ 4.28558587e-03 -4.06548826e-05 9.99990816e-01 1.81445571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:18.42, Z:0.18 [[ 9.04477694e-01 -4.26503198e-01 -3.88890952e-03 8.69770805e+01] [ 4.26499396e-01 9.04486053e-01 -1.80118886e-03 1.84240375e+01] [ 4.28567724e-03 -2.94824202e-05 9.99990816e-01 1.75562991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:18.44, Z:0.18 [[ 9.06607448e-01 -4.21957123e-01 -3.88862242e-03 8.70009600e+01] [ 4.21953276e-01 9.06615788e-01 -1.80180848e-03 1.84390205e+01] [ 4.28577240e-03 -7.28398664e-06 9.99990816e-01 1.75906567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:18.45, Z:0.18 [[ 9.07571966e-01 -4.19878561e-01 -3.88852040e-03 8.70256417e+01] [ 4.19874694e-01 9.07580296e-01 -1.80202862e-03 1.84527082e+01] [ 4.28577768e-03 2.77934433e-06 9.99990816e-01 1.76403648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:18.47, Z:0.17 [[ 9.09208275e-01 -4.16323426e-01 -3.88819660e-03 8.70498098e+01] [ 4.16319523e-01 9.09216589e-01 -1.80272702e-03 1.84667709e+01] [ 4.28573033e-03 2.03221724e-05 9.99990816e-01 1.74848731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:18.48, Z:0.17 [[ 9.09881065e-01 -4.14850975e-01 -3.88789350e-03 8.70751408e+01] [ 4.14847057e-01 9.09889371e-01 -1.80338047e-03 1.84792929e+01] [ 4.28568711e-03 2.79805686e-05 9.99990816e-01 1.73461251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:18.49, Z:0.17 [[ 9.10336134e-01 -4.13851433e-01 -3.88779256e-03 8.70998987e+01] [ 4.13847505e-01 9.10344435e-01 -1.80359805e-03 1.84929393e+01] [ 4.28565196e-03 3.29272317e-05 9.99990816e-01 1.73222013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:18.51, Z:0.17 [[ 9.11039010e-01 -4.12301843e-01 -3.88747063e-03 8.71234426e+01] [ 4.12297897e-01 9.11047303e-01 -1.80429167e-03 1.85077714e+01] [ 4.28558241e-03 4.09841346e-05 9.99990816e-01 1.74241745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.15, Y:18.52, Z:0.17 [[ 9.10913245e-01 -4.12579629e-01 -3.88713917e-03 8.71477078e+01] [ 4.12575683e-01 9.10921538e-01 -1.80500546e-03 1.85208054e+01] [ 4.28558728e-03 4.04642860e-05 9.99990816e-01 1.73926978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:18.54, Z:0.18 [[ 9.09991927e-01 -4.14607747e-01 -3.88703600e-03 8.71728784e+01] [ 4.14603818e-01 9.10000228e-01 -1.80522763e-03 1.85350996e+01] [ 4.28566500e-03 3.11625990e-05 9.99990816e-01 1.79304503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:18.55, Z:0.18 [[ 9.09382437e-01 -4.15942877e-01 -3.88673770e-03 8.71971228e+01] [ 4.15938958e-01 9.09390742e-01 -1.80586964e-03 1.85471204e+01] [ 4.28570190e-03 2.55805095e-05 9.99990816e-01 1.79587622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:18.56, Z:0.18 [[ 9.07557324e-01 -4.19910226e-01 -3.88658981e-03 8.72223806e+01] [ 4.19906342e-01 9.07565646e-01 -1.80618789e-03 1.85593149e+01] [ 4.28577215e-03 7.21533884e-06 9.99990816e-01 1.80832588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:18.57, Z:0.18 [[ 9.06422447e-01 -4.22354406e-01 -3.88624764e-03 8.72476961e+01] [ 4.22350541e-01 9.06430778e-01 -1.80692381e-03 1.85713627e+01] [ 4.28577670e-03 -3.52249077e-06 9.99990816e-01 1.81632018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.27, Y:18.58, Z:0.18 [[ 9.04314208e-01 -4.26849754e-01 -3.88590790e-03 8.72729575e+01] [ 4.26845927e-01 9.04322557e-01 -1.80765414e-03 1.85831722e+01] [ 4.28571089e-03 -2.39966378e-05 9.99990816e-01 1.82168390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:18.59, Z:0.18 [[ 9.03271445e-01 -4.29051975e-01 -3.88580255e-03 8.72974944e+01] [ 4.29048168e-01 9.03279802e-01 -1.80788058e-03 1.85937504e+01] [ 4.28564169e-03 -3.41895587e-05 9.99990816e-01 1.80175040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:18.60, Z:0.18 [[ 9.02159881e-01 -4.31384343e-01 -3.88557345e-03 8.73228493e+01] [ 4.31380555e-01 9.02168247e-01 -1.80837283e-03 1.86044638e+01] [ 4.28554472e-03 -4.47194148e-05 9.99990816e-01 1.83325511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:18.61, Z:0.18 [[ 9.00606584e-01 -4.34617863e-01 -3.88522665e-03 8.73492535e+01] [ 4.34614101e-01 9.00614962e-01 -1.80911762e-03 1.86141183e+01] [ 4.28536808e-03 -5.92710531e-05 9.99990816e-01 1.82406077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:18.63, Z:0.18 [[ 8.99885815e-01 -4.36108274e-01 -3.88511901e-03 8.73735775e+01] [ 4.36104526e-01 8.99894199e-01 -1.80934875e-03 1.86251726e+01] [ 4.28526802e-03 -6.61107076e-05 9.99990816e-01 1.81943156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.40, Y:18.64, Z:0.18 [[ 8.99332158e-01 -4.37248873e-01 -3.88496954e-03 8.73988859e+01] [ 4.37245134e-01 8.99340546e-01 -1.80966962e-03 1.86364053e+01] [ 4.28518663e-03 -7.11899449e-05 9.99990816e-01 1.82814072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:18.65, Z:0.18 [[ 8.98828750e-01 -4.38282772e-01 -3.88462110e-03 8.74254585e+01] [ 4.38279039e-01 8.98837141e-01 -1.81041728e-03 1.86456331e+01] [ 4.28511643e-03 -7.52929035e-05 9.99990816e-01 1.80961083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:18.66, Z:0.18 [[ 8.98835880e-01 -4.38268149e-01 -3.88451292e-03 8.74511000e+01] [ 4.38264416e-01 8.98844271e-01 -1.81064937e-03 1.86560158e+01] [ 4.28512213e-03 -7.49671679e-05 9.99990816e-01 1.80988510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.48, Y:18.66, Z:0.18 [[ 8.99487618e-01 -4.36928985e-01 -3.88417646e-03 8.74766053e+01] [ 4.36925235e-01 8.99496002e-01 -1.81137084e-03 1.86648427e+01] [ 4.28524162e-03 -6.77890766e-05 9.99990816e-01 1.80975118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:18.68, Z:0.18 [[ 9.00206290e-01 -4.35446379e-01 -3.88402982e-03 8.75023203e+01] [ 4.35442615e-01 9.00214667e-01 -1.81168522e-03 1.86753625e+01] [ 4.28535238e-03 -6.03816717e-05 9.99990816e-01 1.82261777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:87.53, Y:18.69, Z:0.19 [[ 9.01136979e-01 -4.33517084e-01 -3.88368087e-03 8.75274117e+01] [ 4.33513298e-01 9.01145346e-01 -1.81243295e-03 1.86865393e+01] [ 4.28548159e-03 -5.03769539e-05 9.99990816e-01 1.86854855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.55, Y:18.70, Z:0.18 [[ 9.03705552e-01 -4.28136889e-01 -3.88333329e-03 8.75514239e+01] [ 4.28133050e-01 9.03713895e-01 -1.81317737e-03 1.86980579e+01] [ 4.28571037e-03 -2.40048716e-05 9.99990816e-01 1.80361714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:18.71, Z:0.18 [[ 9.05015435e-01 -4.25361004e-01 -3.88310535e-03 8.75765408e+01] [ 4.25357138e-01 9.05023766e-01 -1.81366540e-03 1.87102743e+01] [ 4.28576516e-03 -1.03113926e-05 9.99990816e-01 1.80550200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:18.72, Z:0.18 [[ 9.04937449e-01 -4.25526894e-01 -3.88277352e-03 8.76022561e+01] [ 4.25523026e-01 9.04945779e-01 -1.81437551e-03 1.87225135e+01] [ 4.28576508e-03 -1.03131987e-05 9.99990816e-01 1.80672265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:18.74, Z:0.18 [[ 9.07540782e-01 -4.19946015e-01 -3.88244081e-03 8.76278432e+01] [ 4.19942093e-01 9.07549086e-01 -1.81508719e-03 1.87350511e+01] [ 4.28574424e-03 1.68653270e-05 9.99990816e-01 1.82408096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:18.75, Z:0.18 [[ 9.08647010e-01 -4.17547052e-01 -3.88214462e-03 8.76522928e+01] [ 4.17543105e-01 9.08655302e-01 -1.81572045e-03 1.87476361e+01] [ 4.28568002e-03 2.88862419e-05 9.99990816e-01 1.83265497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:18.76, Z:0.18 [[ 9.09631586e-01 -4.15397773e-01 -3.88180298e-03 8.76769906e+01] [ 4.15393804e-01 9.09639867e-01 -1.81645055e-03 1.87604625e+01] [ 4.28559226e-03 3.98238889e-05 9.99990816e-01 1.82566620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:18.77, Z:0.18 [[ 9.11247003e-01 -4.11841999e-01 -3.88169714e-03 8.77010271e+01] [ 4.11837996e-01 9.11255269e-01 -1.81667669e-03 1.87747975e+01] [ 4.28540073e-03 5.68108137e-05 9.99990816e-01 1.84259263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:18.79, Z:0.19 [[ 9.11819054e-01 -4.10573924e-01 -3.88135168e-03 8.77254926e+01] [ 4.10569906e-01 9.11827313e-01 -1.81741447e-03 1.87883971e+01] [ 4.28530547e-03 6.35869510e-05 9.99990816e-01 1.85373390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:18.80, Z:0.18 [[ 9.12444047e-01 -4.09183087e-01 -3.88099464e-03 8.77495707e+01] [ 4.09179054e-01 9.12452298e-01 -1.81817659e-03 1.88033073e+01] [ 4.28518959e-03 7.09626845e-05 9.99990816e-01 1.84734758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:18.82, Z:0.19 [[ 9.12511605e-01 -4.09032406e-01 -3.88088408e-03 8.77745739e+01] [ 4.09028371e-01 9.12519855e-01 -1.81841255e-03 1.88162340e+01] [ 4.28517344e-03 7.19308612e-05 9.99990816e-01 1.87206767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:87.80, Y:18.83, Z:0.19 [[ 9.12525056e-01 -4.09002400e-01 -3.88053032e-03 8.77980845e+01] [ 4.08998361e-01 9.12533304e-01 -1.81916718e-03 1.88290399e+01] [ 4.28515689e-03 7.29050906e-05 9.99990816e-01 1.92033423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:18.84, Z:0.18 [[ 9.12179221e-01 -4.09773122e-01 -3.88037638e-03 8.78219365e+01] [ 4.09769088e-01 9.12187472e-01 -1.81949547e-03 1.88445359e+01] [ 4.28521106e-03 6.96476723e-05 9.99990816e-01 1.84620075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:18.86, Z:0.19 [[ 9.11748843e-01 -4.10729829e-01 -3.88003702e-03 8.78464778e+01] [ 4.10725801e-01 9.11757097e-01 -1.82021886e-03 1.88577823e+01] [ 4.28526947e-03 6.59511253e-05 9.99990816e-01 1.85424051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.87, Y:18.87, Z:0.18 [[ 9.10848379e-01 -4.12722885e-01 -3.87967885e-03 8.78703086e+01] [ 4.12718871e-01 9.10856639e-01 -1.82098195e-03 1.88721987e+01] [ 4.28539217e-03 5.74217807e-05 9.99990816e-01 1.83729698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.89, Y:18.89, Z:0.19 [[ 9.10237790e-01 -4.14067766e-01 -3.87956760e-03 8.78949783e+01] [ 4.14063764e-01 9.10246056e-01 -1.82121894e-03 1.88859279e+01] [ 4.28546917e-03 5.13539336e-05 9.99990816e-01 1.88413681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:18.90, Z:0.18 [[ 9.09559123e-01 -4.15556438e-01 -3.87921170e-03 8.79192881e+01] [ 4.15552447e-01 9.09567394e-01 -1.82197670e-03 1.88996625e+01] [ 4.28553863e-03 4.51796115e-05 9.99990816e-01 1.83694620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.94, Y:18.91, Z:0.18 [[ 9.08355214e-01 -4.18181492e-01 -3.87885856e-03 8.79430339e+01] [ 4.18177520e-01 9.08363495e-01 -1.82272821e-03 1.89127558e+01] [ 4.28564472e-03 3.36332158e-05 9.99990816e-01 1.83685131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:18.93, Z:0.18 [[ 9.07718282e-01 -4.19562244e-01 -3.87870447e-03 8.79671842e+01] [ 4.19558285e-01 9.07726568e-01 -1.82305604e-03 1.89254453e+01] [ 4.28568858e-03 2.74786986e-05 9.99990816e-01 1.84225566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.238623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:87.99, Y:18.94, Z:0.19 [[ 9.06557973e-01 -4.22063501e-01 -3.87855464e-03 8.79916942e+01] [ 4.22059563e-01 9.06566269e-01 -1.82337474e-03 1.89398128e+01] [ 4.28574674e-03 1.60138322e-05 9.99990816e-01 1.91637516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:18.95, Z:0.19 [[ 9.05971923e-01 -4.23320014e-01 -3.87823099e-03 8.80165526e+01] [ 4.23316084e-01 9.05980224e-01 -1.82406288e-03 1.89527958e+01] [ 4.28576290e-03 1.08322020e-05 9.99990816e-01 1.86924607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:18.97, Z:0.19 [[ 9.05079503e-01 -4.25224710e-01 -3.87812323e-03 8.80411645e+01] [ 4.25220797e-01 9.05087811e-01 -1.82429195e-03 1.89669686e+01] [ 4.28577608e-03 2.07059831e-06 9.99990816e-01 1.89731123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:18.98, Z:0.19 [[ 9.04844396e-01 -4.25724771e-01 -3.87795880e-03 8.80653898e+01] [ 4.25720861e-01 9.04852706e-01 -1.82464143e-03 1.89803632e+01] [ 4.28577657e-03 8.86173080e-08 9.99990816e-01 1.87744094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:88.09, Y:18.99, Z:0.20 [[ 9.04774317e-01 -4.25873689e-01 -3.87779293e-03 8.80894853e+01] [ 4.25869778e-01 9.04782627e-01 -1.82499386e-03 1.89937858e+01] [ 4.28577654e-03 -2.27244956e-07 9.99990816e-01 1.96644254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:19.01, Z:0.19 [[ 9.05016700e-01 -4.25358364e-01 -3.87745017e-03 8.81132920e+01] [ 4.25354446e-01 9.05025006e-01 -1.82572183e-03 1.90090473e+01] [ 4.28577541e-03 3.01807676e-06 9.99990816e-01 1.90948711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:19.02, Z:0.19 [[ 9.05367488e-01 -4.24611210e-01 -3.87710616e-03 8.81363783e+01] [ 4.24607282e-01 9.05375790e-01 -1.82645206e-03 1.90225728e+01] [ 4.28577007e-03 7.36280268e-06 9.99990816e-01 1.90724548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:19.04, Z:0.19 [[ 9.06332444e-01 -4.22547594e-01 -3.87695664e-03 8.81587072e+01] [ 4.22543646e-01 9.06340736e-01 -1.82676940e-03 1.90400882e+01] [ 4.28574075e-03 1.74769877e-05 9.99990816e-01 1.87989246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:19.05, Z:0.19 [[ 9.06844248e-01 -4.21448074e-01 -3.87685045e-03 8.81824892e+01] [ 4.21444115e-01 9.06852535e-01 -1.82699472e-03 1.90541301e+01] [ 4.28571507e-03 2.29238465e-05 9.99990816e-01 1.87455669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:19.07, Z:0.19 [[ 9.07604933e-01 -4.19807406e-01 -3.87650616e-03 8.82059041e+01] [ 4.19803429e-01 9.07613211e-01 -1.82772496e-03 1.90700009e+01] [ 4.28566067e-03 3.14816116e-05 9.99990816e-01 1.86779861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:19.08, Z:0.19 [[ 9.07649322e-01 -4.19711430e-01 -3.87615637e-03 8.82292180e+01] [ 4.19707448e-01 9.07657598e-01 -1.82846647e-03 1.90833706e+01] [ 4.28565105e-03 3.27546488e-05 9.99990816e-01 1.85724502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:19.10, Z:0.19 [[ 9.07450091e-01 -4.20142010e-01 -3.87600474e-03 8.82535348e+01] [ 4.20138031e-01 9.07458369e-01 -1.82878784e-03 1.90976280e+01] [ 4.28566353e-03 3.10766963e-05 9.99990816e-01 1.87182863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:19.12, Z:0.19 [[ 9.06398140e-01 -4.22406666e-01 -3.87565703e-03 8.82764893e+01] [ 4.22402704e-01 9.06406426e-01 -1.82952442e-03 1.91151969e+01] [ 4.28572375e-03 2.11895227e-05 9.99990816e-01 1.87144221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:19.13, Z:0.19 [[ 9.05626542e-01 -4.24058424e-01 -3.87554925e-03 8.83005553e+01] [ 4.24054477e-01 9.05634834e-01 -1.82975270e-03 1.91297670e+01] [ 4.28575445e-03 1.36286044e-05 9.99990816e-01 1.87582399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:19.14, Z:0.19 [[ 9.04426840e-01 -4.26611148e-01 -3.87544393e-03 8.83248542e+01] [ 4.26607223e-01 9.04435143e-01 -1.82997576e-03 1.91446207e+01] [ 4.28577574e-03 1.78682557e-06 9.99990816e-01 1.89925919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:19.16, Z:0.19 [[ 9.02032284e-01 -4.31651181e-01 -3.87508974e-03 8.83490083e+01] [ 4.31647299e-01 9.02040608e-01 -1.83072547e-03 1.91596090e+01] [ 4.28572311e-03 -2.12985449e-05 9.99990816e-01 1.90794963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:19.17, Z:0.19 [[ 9.00617412e-01 -4.34595515e-01 -3.87492502e-03 8.83739388e+01] [ 4.34591659e-01 9.00625747e-01 -1.83107404e-03 1.91725834e+01] [ 4.28563381e-03 -3.49129361e-05 9.99990816e-01 1.91374783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.40, Y:19.18, Z:0.19 [[ 8.97682379e-01 -4.40626070e-01 -3.87457541e-03 8.83986210e+01] [ 4.40622266e-01 8.97690739e-01 -1.83181352e-03 1.91846393e+01] [ 4.28531526e-03 -6.28374805e-05 9.99990816e-01 1.89789833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:19.20, Z:0.19 [[ 8.96161989e-01 -4.43710129e-01 -3.87446700e-03 8.84236186e+01] [ 4.43706353e-01 8.96170361e-01 -1.83204279e-03 1.91970176e+01] [ 4.28507843e-03 -7.73185194e-05 9.99990816e-01 1.89545287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.45, Y:19.21, Z:0.19 [[ 8.93696448e-01 -4.48655379e-01 -3.87411484e-03 8.84479359e+01] [ 4.48651647e-01 8.93704840e-01 -1.83278718e-03 1.92105402e+01] [ 4.28460501e-03 -1.00172613e-04 9.99990816e-01 1.91729736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:19.22, Z:0.19 [[ 8.92541954e-01 -4.50947728e-01 -3.87395074e-03 8.84732648e+01] [ 4.50944015e-01 8.92550354e-01 -1.83313397e-03 1.92226730e+01] [ 4.28434371e-03 -1.10785932e-04 9.99990816e-01 1.88981148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:19.23, Z:0.19 [[ 8.91392263e-01 -4.53216095e-01 -3.87360645e-03 8.84989916e+01] [ 4.53212401e-01 8.91400671e-01 -1.83386121e-03 1.92342719e+01] [ 4.28407081e-03 -1.20876782e-04 9.99990816e-01 1.89869034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:19.24, Z:0.19 [[ 8.89496841e-01 -4.56924904e-01 -3.87325361e-03 8.85252436e+01] [ 4.56921241e-01 8.89505263e-01 -1.83460613e-03 1.92446566e+01] [ 4.28355670e-03 -1.37895496e-04 9.99990816e-01 1.90823564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:19.26, Z:0.19 [[ 8.88708080e-01 -4.58457140e-01 -3.87290251e-03 8.85513031e+01] [ 4.58453489e-01 8.88716507e-01 -1.83534701e-03 1.92566868e+01] [ 4.28334033e-03 -1.44457950e-04 9.99990816e-01 1.92062235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:19.27, Z:0.19 [[ 8.88044922e-01 -4.59740383e-01 -3.87259442e-03 8.85772150e+01] [ 4.59736741e-01 8.88053353e-01 -1.83599685e-03 1.92671664e+01] [ 4.28315236e-03 -1.49926261e-04 9.99990816e-01 1.94210647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.60, Y:19.28, Z:0.19 [[ 8.88065624e-01 -4.59700392e-01 -3.87248534e-03 8.86021489e+01] [ 4.59696749e-01 8.88074055e-01 -1.83622689e-03 1.92777561e+01] [ 4.28316798e-03 -1.49478940e-04 9.99990816e-01 1.93811172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.63, Y:19.29, Z:0.20 [[ 8.88233910e-01 -4.59375148e-01 -3.87233813e-03 8.86277768e+01] [ 4.59371501e-01 8.88242338e-01 -1.83653729e-03 1.92890602e+01] [ 4.28323427e-03 -1.47567079e-04 9.99990816e-01 1.98263107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.65, Y:19.30, Z:0.19 [[ 8.89290591e-01 -4.57326198e-01 -3.87201264e-03 8.86535536e+01] [ 4.57322529e-01 8.89299010e-01 -1.83722326e-03 1.92996433e+01] [ 4.28358734e-03 -1.36933249e-04 9.99990816e-01 1.94151210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:19.31, Z:0.19 [[ 8.89991755e-01 -4.55960181e-01 -3.87166864e-03 8.86792270e+01] [ 4.55956495e-01 8.90000167e-01 -1.83794791e-03 1.93109296e+01] [ 4.28381680e-03 -1.29553982e-04 9.99990816e-01 1.92871562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.71, Y:19.32, Z:0.19 [[ 8.91724863e-01 -4.52561358e-01 -3.87132585e-03 8.87054944e+01] [ 4.52557636e-01 8.91733259e-01 -1.83866967e-03 1.93216925e+01] [ 4.28430085e-03 -1.12410617e-04 9.99990816e-01 1.90189459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:19.33, Z:0.19 [[ 8.92727016e-01 -4.50581279e-01 -3.87102772e-03 8.87323256e+01] [ 4.50577537e-01 8.92735403e-01 -1.83929712e-03 1.93332747e+01] [ 4.28455634e-03 -1.02207901e-04 9.99990816e-01 1.88569970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:19.35, Z:0.19 [[ 8.93746602e-01 -4.48555491e-01 -3.87073106e-03 8.87577643e+01] [ 4.48551727e-01 8.93754979e-01 -1.83992121e-03 1.93450445e+01] [ 4.28479192e-03 -9.17997682e-05 9.99990816e-01 1.88005397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:19.36, Z:0.19 [[ 8.96004088e-01 -4.44028935e-01 -3.87039195e-03 8.87834781e+01] [ 4.44025125e-01 8.96012444e-01 -1.84063426e-03 1.93568737e+01] [ 4.28521423e-03 -6.93354495e-05 9.99990816e-01 1.88313532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:19.37, Z:0.19 [[ 8.97089961e-01 -4.41830989e-01 -3.87028628e-03 8.88093726e+01] [ 4.41827158e-01 8.97098308e-01 -1.84085644e-03 1.93686550e+01] [ 4.28537469e-03 -5.85837590e-05 9.99990816e-01 1.89062059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:19.38, Z:0.19 [[ 8.99228000e-01 -4.37463171e-01 -3.86999067e-03 8.88351282e+01] [ 4.37459297e-01 8.99236327e-01 -1.84147768e-03 1.93785451e+01] [ 4.28561486e-03 -3.70551110e-05 9.99990816e-01 1.89584886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:19.39, Z:0.19 [[ 9.00117152e-01 -4.35630735e-01 -3.86988568e-03 8.88608050e+01] [ 4.35626843e-01 9.00125470e-01 -1.84169829e-03 1.93900654e+01] [ 4.28568305e-03 -2.80818606e-05 9.99990816e-01 1.89925005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:19.40, Z:0.19 [[ 9.00974722e-01 -4.33854326e-01 -3.86954921e-03 8.88862266e+01] [ 4.33850414e-01 9.00983032e-01 -1.84240497e-03 1.94015466e+01] [ 4.28573355e-03 -1.88452205e-05 9.99990816e-01 1.90437177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.91, Y:19.41, Z:0.19 [[ 9.02773190e-01 -4.30099520e-01 -3.86921458e-03 8.89116101e+01] [ 4.30095571e-01 9.02781481e-01 -1.84310746e-03 1.94122019e+01] [ 4.28577490e-03 -2.24049270e-07 9.99990816e-01 1.94552812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:19.42, Z:0.19 [[ 9.03481375e-01 -4.28609886e-01 -3.86911023e-03 8.89370644e+01] [ 4.28605922e-01 9.03489660e-01 -1.84332649e-03 1.94236357e+01] [ 4.28576904e-03 7.08760061e-06 9.99990816e-01 1.92977655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:19.43, Z:0.19 [[ 9.04757552e-01 -4.25909386e-01 -3.86877333e-03 8.89622780e+01] [ 4.25905395e-01 9.04765823e-01 -1.84403331e-03 1.94344834e+01] [ 4.28572498e-03 2.06716300e-05 9.99990816e-01 1.91190536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.99, Y:19.45, Z:0.19 [[ 9.05313016e-01 -4.24727413e-01 -3.86866855e-03 8.89878672e+01] [ 4.24723410e-01 9.05321282e-01 -1.84425309e-03 1.94464062e+01] [ 4.28569282e-03 2.65122271e-05 9.99990816e-01 1.93741891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:19.46, Z:0.19 [[ 9.06292255e-01 -4.22633867e-01 -3.86830578e-03 8.90128342e+01] [ 4.22629841e-01 9.06300509e-01 -1.84501368e-03 1.94586336e+01] [ 4.28561277e-03 3.72601526e-05 9.99990816e-01 1.91406825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:19.47, Z:0.19 [[ 9.06812871e-01 -4.21515664e-01 -3.86819289e-03 8.90377552e+01] [ 4.21511627e-01 9.06821120e-01 -1.84525035e-03 1.94705987e+01] [ 4.28556093e-03 4.28084877e-05 9.99990816e-01 1.88775583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:19.48, Z:0.19 [[ 9.07199599e-01 -4.20682690e-01 -3.86808572e-03 8.90630735e+01] [ 4.20678645e-01 9.07207844e-01 -1.84547496e-03 1.94829996e+01] [ 4.28551708e-03 4.69930801e-05 9.99990816e-01 1.90808040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:19.50, Z:0.19 [[ 9.07941507e-01 -4.19079062e-01 -3.86773246e-03 8.90874596e+01] [ 4.19074999e-01 9.07949744e-01 -1.84621503e-03 1.94954924e+01] [ 4.28541676e-03 5.53852839e-05 9.99990816e-01 1.89102825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:19.51, Z:0.19 [[ 9.08087801e-01 -4.18761970e-01 -3.86762290e-03 8.91116649e+01] [ 4.18757903e-01 9.08096035e-01 -1.84644452e-03 1.95085415e+01] [ 4.28539376e-03 5.71360826e-05 9.99990816e-01 1.89392881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:19.52, Z:0.19 [[ 9.08132850e-01 -4.18664270e-01 -3.86733808e-03 8.91362721e+01] [ 4.18660199e-01 9.08141083e-01 -1.84704086e-03 1.95221365e+01] [ 4.28537861e-03 5.82579498e-05 9.99990816e-01 1.89730292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:19.53, Z:0.19 [[ 9.07747370e-01 -4.19499413e-01 -3.86701249e-03 8.91615475e+01] [ 4.19495348e-01 9.07755605e-01 -1.84772228e-03 1.95345664e+01] [ 4.28542068e-03 5.50712899e-05 9.99990816e-01 1.91312036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:19.55, Z:0.19 [[ 9.07667377e-01 -4.19672469e-01 -3.86666081e-03 8.91871480e+01] [ 4.19668402e-01 9.07675611e-01 -1.84845794e-03 1.95470186e+01] [ 4.28542062e-03 5.50696070e-05 9.99990816e-01 1.91434101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:19.56, Z:0.19 [[ 9.07281212e-01 -4.20506664e-01 -3.86630826e-03 8.92118259e+01] [ 4.20502601e-01 9.07289448e-01 -1.84919505e-03 1.95595009e+01] [ 4.28545953e-03 5.19472444e-05 9.99990816e-01 1.91113092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:19.57, Z:0.19 [[ 9.06243516e-01 -4.22738388e-01 -3.86595507e-03 8.92363527e+01] [ 4.22734342e-01 9.06251761e-01 -1.84993314e-03 1.95735270e+01] [ 4.28556634e-03 4.22179324e-05 9.99990816e-01 1.89476456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:19.59, Z:0.19 [[ 9.05536391e-01 -4.24250986e-01 -3.86584540e-03 8.92623359e+01] [ 4.24246953e-01 9.05544643e-01 -1.85016231e-03 1.95870403e+01] [ 4.28562877e-03 3.53161665e-05 9.99990816e-01 1.90832154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.29, Y:19.60, Z:0.20 [[ 9.03968386e-01 -4.27581821e-01 -3.86556761e-03 8.92881508e+01] [ 4.27577816e-01 9.03976651e-01 -1.85074251e-03 1.96003604e+01] [ 4.28572671e-03 2.01817680e-05 9.99990816e-01 1.96204341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:19.61, Z:0.20 [[ 9.03175300e-01 -4.29254513e-01 -3.86526668e-03 8.93126134e+01] [ 4.29250521e-01 9.03183571e-01 -1.85137079e-03 1.96122678e+01] [ 4.28575463e-03 1.29446364e-05 9.99990816e-01 1.95760367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.34, Y:19.62, Z:0.20 [[ 9.02302436e-01 -4.31086274e-01 -3.86511759e-03 8.93371557e+01] [ 4.31082297e-01 9.02310714e-01 -1.85168199e-03 1.96246546e+01] [ 4.28577170e-03 4.59340284e-06 9.99990816e-01 2.01277029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:19.64, Z:0.20 [[ 9.00621467e-01 -4.34587203e-01 -3.86476875e-03 8.93629927e+01] [ 4.34583255e-01 9.00629759e-01 -1.85240978e-03 1.96364426e+01] [ 4.28575934e-03 -1.12437741e-05 9.99990816e-01 1.97789946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:19.65, Z:0.20 [[ 8.99022068e-01 -4.37886271e-01 -3.86442234e-03 8.93888881e+01] [ 4.37882351e-01 8.99030374e-01 -1.85313218e-03 1.96478222e+01] [ 4.28569420e-03 -2.61556112e-05 9.99990816e-01 1.96464328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:19.66, Z:0.20 [[ 8.98261945e-01 -4.39443451e-01 -3.86407843e-03 8.94133061e+01] [ 4.39439542e-01 8.98270256e-01 -1.85384900e-03 1.96595070e+01] [ 4.28564852e-03 -3.27868489e-05 9.99990816e-01 1.96070897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.978623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.44, Y:19.67, Z:0.20 [[ 8.97655427e-01 -4.40681070e-01 -3.86384482e-03 8.94391059e+01] [ 4.40677171e-01 8.97663741e-01 -1.85433577e-03 1.96712501e+01] [ 4.28560407e-03 -3.81536394e-05 9.99990816e-01 1.99982515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.47, Y:19.68, Z:0.20 [[ 8.96308829e-01 -4.43413528e-01 -3.86354446e-03 8.94651798e+01] [ 4.43409651e-01 8.96317154e-01 -1.85496136e-03 1.96827765e+01] [ 4.28547614e-03 -5.05146563e-05 9.99990816e-01 1.97600635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.038623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.49, Y:19.69, Z:0.20 [[ 8.95834273e-01 -4.44371500e-01 -3.86322380e-03 8.94909682e+01] [ 4.44367629e-01 8.95842602e-01 -1.85562895e-03 1.96942075e+01] [ 4.28542908e-03 -5.43555867e-05 9.99990816e-01 1.95171395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:19.70, Z:0.19 [[ 8.95423210e-01 -4.45199227e-01 -3.86311766e-03 8.95174755e+01] [ 4.45195363e-01 8.95431541e-01 -1.85584988e-03 1.97048189e+01] [ 4.28538033e-03 -5.80710143e-05 9.99990816e-01 1.94528800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:19.72, Z:0.19 [[ 8.95496416e-01 -4.45051961e-01 -3.86280108e-03 8.95427465e+01] [ 4.45048092e-01 8.95504745e-01 -1.85650860e-03 1.97163602e+01] [ 4.28539948e-03 -5.66354548e-05 9.99990816e-01 1.94072747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:19.73, Z:0.19 [[ 8.95745136e-01 -4.44551160e-01 -3.86246417e-03 8.95670237e+01] [ 4.44547283e-01 8.95753461e-01 -1.85720926e-03 1.97274607e+01] [ 4.28544018e-03 -5.34617993e-05 9.99990816e-01 1.93066575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:19.74, Z:0.19 [[ 8.96190725e-01 -4.43652192e-01 -3.86231797e-03 8.95924642e+01] [ 4.43648306e-01 8.96199046e-01 -1.85751327e-03 1.97390656e+01] [ 4.28549551e-03 -4.88246642e-05 9.99990816e-01 1.93483676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:19.75, Z:0.19 [[ 8.97465456e-01 -4.41067841e-01 -3.86198515e-03 8.96168108e+01] [ 4.41063928e-01 8.97473765e-01 -1.85820496e-03 1.97496340e+01] [ 4.28562481e-03 -3.57075793e-05 9.99990816e-01 1.93616734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:19.76, Z:0.19 [[ 8.98079522e-01 -4.39816166e-01 -3.86165284e-03 8.96417809e+01] [ 4.39812239e-01 8.98087824e-01 -1.85889531e-03 1.97618874e+01] [ 4.28567560e-03 -2.89663729e-05 9.99990816e-01 1.93538656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:19.77, Z:0.19 [[ 8.99183087e-01 -4.37555559e-01 -3.86132030e-03 8.96678898e+01] [ 4.37551607e-01 8.99191377e-01 -1.85958581e-03 1.97730732e+01] [ 4.28573803e-03 -1.74187953e-05 9.99990816e-01 1.93682704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:19.78, Z:0.19 [[ 8.99592659e-01 -4.36712881e-01 -3.86098848e-03 8.96933247e+01] [ 4.36708919e-01 8.99600945e-01 -1.86027449e-03 1.97845824e+01] [ 4.28575472e-03 -1.26388318e-05 9.99990816e-01 1.94479370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:19.80, Z:0.20 [[ 8.99886687e-01 -4.36106690e-01 -3.86065750e-03 8.97187355e+01] [ 4.36102720e-01 8.99894969e-01 -1.86096114e-03 1.97965342e+01] [ 4.28576386e-03 -8.98907780e-06 9.99990816e-01 1.97553409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.74, Y:19.81, Z:0.20 [[ 9.00440065e-01 -4.34962973e-01 -3.86029753e-03 8.97441231e+01] [ 4.34958989e-01 9.00448339e-01 -1.86170755e-03 1.98082266e+01] [ 4.28577235e-03 -2.71504573e-06 9.99990816e-01 1.98964157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:19.82, Z:0.20 [[ 9.00672993e-01 -4.34480447e-01 -3.86018604e-03 8.97685377e+01] [ 4.34476457e-01 9.00681265e-01 -1.86193868e-03 1.98193418e+01] [ 4.28577320e-03 -1.62067879e-07 9.99990816e-01 1.97277061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.79, Y:19.83, Z:0.20 [[ 9.01115165e-01 -4.33562637e-01 -3.86003274e-03 8.97947462e+01] [ 4.33558638e-01 9.01123432e-01 -1.86225644e-03 1.98293773e+01] [ 4.28577076e-03 4.55697795e-06 9.99990816e-01 1.99501502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.82, Y:19.84, Z:0.20 [[ 9.01353233e-01 -4.33067491e-01 -3.85967198e-03 8.98195564e+01] [ 4.33063484e-01 9.01361497e-01 -1.86300385e-03 1.98406133e+01] [ 4.28576611e-03 7.74154809e-06 9.99990816e-01 1.98079048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:19.85, Z:0.20 [[ 9.01882158e-01 -4.31964903e-01 -3.85951458e-03 8.98448371e+01] [ 4.31960884e-01 9.01890416e-01 -1.86332987e-03 1.98519041e+01] [ 4.28575231e-03 1.33446362e-05 9.99990816e-01 1.98743641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:19.86, Z:0.20 [[ 9.02150941e-01 -4.31403275e-01 -3.85915831e-03 8.98703225e+01] [ 4.31399248e-01 9.02159195e-01 -1.86406745e-03 1.98644128e+01] [ 4.28573996e-03 1.68322167e-05 9.99990816e-01 1.98560237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:19.88, Z:0.20 [[ 9.02744591e-01 -4.30159636e-01 -3.85879459e-03 8.98961725e+01] [ 4.30155595e-01 9.02752838e-01 -1.86482008e-03 1.98758872e+01] [ 4.28570809e-03 2.35741586e-05 9.99990816e-01 1.95169742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:19.89, Z:0.20 [[ 9.02991733e-01 -4.29640594e-01 -3.85868147e-03 8.99221231e+01] [ 4.29636547e-01 9.02999977e-01 -1.86505411e-03 1.98875344e+01] [ 4.28569224e-03 2.62978574e-05 9.99990816e-01 1.96730669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:19.90, Z:0.20 [[ 9.03343150e-01 -4.28901232e-01 -3.85833283e-03 8.99477771e+01] [ 4.28897175e-01 9.03351389e-01 -1.86577508e-03 1.98988793e+01] [ 4.28566355e-03 3.06070900e-05 9.99990816e-01 1.95513062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:19.91, Z:0.20 [[ 9.04146694e-01 -4.27204716e-01 -3.85822451e-03 8.99730381e+01] [ 4.27200642e-01 9.04154926e-01 -1.86599906e-03 1.99106263e+01] [ 4.28559629e-03 3.89008928e-05 9.99990816e-01 1.98578901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:19.92, Z:0.20 [[ 9.04515753e-01 -4.26422759e-01 -3.85787229e-03 8.99979957e+01] [ 4.26418675e-01 9.04523979e-01 -1.86672697e-03 1.99226583e+01] [ 4.28555286e-03 4.34151652e-05 9.99990816e-01 1.99070436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:19.94, Z:0.20 [[ 9.04798023e-01 -4.25823506e-01 -3.85751543e-03 9.00234097e+01] [ 4.25819413e-01 9.04806244e-01 -1.86746412e-03 1.99350772e+01] [ 4.28551416e-03 4.70728866e-05 9.99990816e-01 1.99075569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.698623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.05, Y:19.95, Z:0.20 [[ 9.05563202e-01 -4.24193836e-01 -3.85715920e-03 9.00487459e+01] [ 4.24189725e-01 9.05571414e-01 -1.86819961e-03 1.99474719e+01] [ 4.28541187e-03 5.56055181e-05 9.99990816e-01 2.01563753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.07, Y:19.96, Z:0.20 [[ 9.05721714e-01 -4.23855285e-01 -3.85679789e-03 9.00743098e+01] [ 4.23851168e-01 9.05729923e-01 -1.86894521e-03 1.99600428e+01] [ 4.28537956e-03 5.80359681e-05 9.99990816e-01 2.01031386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.758623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:90.10, Y:19.97, Z:0.20 [[ 9.05746908e-01 -4.23801447e-01 -3.85657146e-03 9.00995732e+01] [ 4.23797328e-01 9.05755116e-01 -1.86941233e-03 1.99727778e+01] [ 4.28536898e-03 5.88097582e-05 9.99990816e-01 2.01141250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:19.99, Z:0.20 [[ 9.05475643e-01 -4.24380711e-01 -3.85645920e-03 9.01245872e+01] [ 4.24376596e-01 9.05483854e-01 -1.86964388e-03 1.99864732e+01] [ 4.28540234e-03 5.63259637e-05 9.99990816e-01 1.97156790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:20.00, Z:0.20 [[ 9.05268884e-01 -4.24821585e-01 -3.85610794e-03 9.01489025e+01] [ 4.24817471e-01 9.05277095e-01 -1.87036808e-03 1.99999174e+01] [ 4.28541892e-03 5.50440020e-05 9.99990816e-01 1.99368511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:20.01, Z:0.20 [[ 9.05082573e-01 -4.25218378e-01 -3.85574352e-03 9.01731409e+01] [ 4.25214265e-01 9.05090784e-01 -1.87111902e-03 2.00140104e+01] [ 4.28543212e-03 5.40000767e-05 9.99990816e-01 1.99178902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:20.03, Z:0.20 [[ 9.04953499e-01 -4.25493006e-01 -3.85563061e-03 9.01976058e+01] [ 4.25488894e-01 9.04961711e-01 -1.87135166e-03 2.00259086e+01] [ 4.28544511e-03 5.29582267e-05 9.99990816e-01 1.98773684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:20.04, Z:0.20 [[ 9.04634831e-01 -4.26170104e-01 -3.85547625e-03 9.02226638e+01] [ 4.26165997e-01 9.04643046e-01 -1.87166963e-03 2.00406255e+01] [ 4.28547941e-03 5.01046594e-05 9.99990816e-01 2.02751866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:20.05, Z:0.20 [[ 9.04453509e-01 -4.26554789e-01 -3.85515349e-03 9.02465180e+01] [ 4.26550683e-01 9.04461724e-01 -1.87233419e-03 2.00541960e+01] [ 4.28549188e-03 4.90208708e-05 9.99990816e-01 2.02499905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:20.07, Z:0.20 [[ 9.04111149e-01 -4.27279966e-01 -3.85490130e-03 9.02700277e+01] [ 4.27275864e-01 9.04119366e-01 -1.87285328e-03 2.00675691e+01] [ 4.28552360e-03 4.61612482e-05 9.99990816e-01 2.02069059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:20.08, Z:0.20 [[ 9.03191612e-01 -4.29220285e-01 -3.85474470e-03 9.02947952e+01] [ 4.29216199e-01 9.03199837e-01 -1.87317554e-03 2.00812565e+01] [ 4.28560972e-03 3.73175639e-05 9.99990816e-01 2.02908173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:20.10, Z:0.20 [[ 9.01822422e-01 -4.32089647e-01 -3.85438376e-03 9.03189952e+01] [ 4.32085584e-01 9.01830659e-01 -1.87391793e-03 2.00955812e+01] [ 4.28570198e-03 2.45175507e-05 9.99990816e-01 2.02495958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:20.11, Z:0.20 [[ 9.01007730e-01 -4.33785910e-01 -3.85427165e-03 9.03434802e+01] [ 4.33781861e-01 9.01015973e-01 -1.87414849e-03 2.01094533e+01] [ 4.28573953e-03 1.67091434e-05 9.99990816e-01 2.02446820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:20.12, Z:0.20 [[ 9.00217739e-01 -4.35422978e-01 -3.85391343e-03 9.03668991e+01] [ 4.35418942e-01 9.00225988e-01 -1.87488482e-03 2.01222250e+01] [ 4.28576096e-03 9.73766781e-06 9.99990816e-01 2.00200110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.39, Y:20.14, Z:0.20 [[ 8.99458939e-01 -4.36988290e-01 -3.85375695e-03 9.03917946e+01] [ 4.36984266e-01 8.99467195e-01 -1.87520641e-03 2.01351721e+01] [ 4.28577120e-03 2.64001701e-06 9.99990816e-01 2.02940951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:20.15, Z:0.20 [[ 8.98249432e-01 -4.39469123e-01 -3.85339853e-03 9.04163471e+01] [ 4.39465119e-01 8.98257697e-01 -1.87594265e-03 2.01489782e+01] [ 4.28576376e-03 -8.36982629e-06 9.99990816e-01 2.02532857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:20.16, Z:0.20 [[ 8.97338728e-01 -4.41325684e-01 -3.85328781e-03 9.04403007e+01] [ 4.41321696e-01 8.97347001e-01 -1.87617004e-03 2.01623793e+01] [ 4.28573829e-03 -1.69794722e-05 9.99990816e-01 2.04444803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:20.17, Z:0.20 [[ 8.96888128e-01 -4.42240703e-01 -3.85317797e-03 9.04650374e+01] [ 4.42236723e-01 8.96896404e-01 -1.87639560e-03 2.01746433e+01] [ 4.28571998e-03 -2.10998576e-05 9.99990816e-01 2.04837326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:20.19, Z:0.21 [[ 8.96396055e-01 -4.43237259e-01 -3.85282888e-03 9.04902463e+01] [ 4.43233285e-01 8.96404335e-01 -1.87711212e-03 2.01874963e+01] [ 4.28569854e-03 -2.50660998e-05 9.99990816e-01 2.05810250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:90.51, Y:20.20, Z:0.21 [[ 8.95860088e-01 -4.44319549e-01 -3.85247087e-03 9.05145321e+01] [ 4.44315582e-01 8.95868371e-01 -1.87784659e-03 2.02018293e+01] [ 4.28567075e-03 -2.94250240e-05 9.99990816e-01 2.08617213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:20.22, Z:0.20 [[ 8.95125478e-01 -4.45797642e-01 -3.85235985e-03 9.05390425e+01] [ 4.45793688e-01 8.95133767e-01 -1.87807433e-03 2.02152287e+01] [ 4.28561849e-03 -3.62455217e-05 9.99990816e-01 2.04782742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:20.23, Z:0.20 [[ 8.94502833e-01 -4.47045684e-01 -3.85199778e-03 9.05633403e+01] [ 4.47041738e-01 8.94511126e-01 -1.87881664e-03 2.02270983e+01] [ 4.28557174e-03 -4.13969760e-05 9.99990816e-01 2.03253991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.59, Y:20.24, Z:0.20 [[ 8.93037568e-01 -4.49965627e-01 -3.85184097e-03 9.05888532e+01] [ 4.49961706e-01 8.93045873e-01 -1.87913807e-03 2.02387945e+01] [ 4.28541822e-03 -5.50400424e-05 9.99990816e-01 2.03131551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:20.25, Z:0.20 [[ 8.92191844e-01 -4.51640211e-01 -3.85148108e-03 9.06129907e+01] [ 4.51636303e-01 8.92200155e-01 -1.87987541e-03 2.02504693e+01] [ 4.28531934e-03 -6.22591701e-05 9.99990816e-01 2.01678445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41862385300001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:90.64, Y:20.26, Z:0.21 [[ 8.90349519e-01 -4.55261355e-01 -3.85132452e-03 9.06379507e+01] [ 4.55257479e-01 8.90357845e-01 -1.88019610e-03 2.02598829e+01] [ 4.28503763e-03 -7.93126005e-05 9.99990816e-01 2.06223028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:90.66, Y:20.27, Z:0.21 [[ 8.89265637e-01 -4.57374897e-01 -3.85108872e-03 9.06636891e+01] [ 4.57371039e-01 8.89273971e-01 -1.88067896e-03 2.02705374e+01] [ 4.28484830e-03 -8.89532747e-05 9.99990816e-01 2.06592961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.478623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:90.69, Y:20.28, Z:0.21 [[ 8.88251997e-01 -4.59340354e-01 -3.85075252e-03 9.06896014e+01] [ 4.59336512e-01 8.88260339e-01 -1.88136709e-03 2.02817249e+01] [ 4.28465856e-03 -9.76631508e-05 9.99990816e-01 2.06543943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.72, Y:20.29, Z:0.20 [[ 8.86673820e-01 -4.62379402e-01 -3.85041100e-03 9.07164893e+01] [ 4.62375585e-01 8.86682173e-01 -1.88206579e-03 2.02910315e+01] [ 4.28431924e-03 -1.11557577e-04 9.99990816e-01 2.02516520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:20.30, Z:0.20 [[ 8.85581364e-01 -4.64468324e-01 -3.85025032e-03 9.07444228e+01] [ 4.64464525e-01 8.85589725e-01 -1.88239444e-03 2.02986989e+01] [ 4.28405471e-03 -1.21291254e-04 9.99990816e-01 2.04403172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:20.31, Z:0.20 [[ 8.85368494e-01 -4.64873971e-01 -3.84992285e-03 9.07692552e+01] [ 4.64870173e-01 8.85376856e-01 -1.88306396e-03 2.03084017e+01] [ 4.28402000e-03 -1.22508802e-04 9.99990816e-01 2.04344797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:20.32, Z:0.20 [[ 8.85283474e-01 -4.65035858e-01 -3.84977014e-03 9.07947490e+01] [ 4.65032061e-01 8.85291836e-01 -1.88337609e-03 2.03210781e+01] [ 4.28400750e-03 -1.22944810e-04 9.99990816e-01 2.04466838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:20.33, Z:0.20 [[ 8.85433459e-01 -4.64750225e-01 -3.84942563e-03 9.08201515e+01] [ 4.64746422e-01 8.85441818e-01 -1.88407999e-03 2.03307671e+01] [ 4.28406902e-03 -1.20779326e-04 9.99990816e-01 2.03874667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:20.34, Z:0.21 [[ 8.86345883e-01 -4.63007730e-01 -3.84927588e-03 9.08472246e+01] [ 4.63003909e-01 8.86354235e-01 -1.88438588e-03 2.03396360e+01] [ 4.28430720e-03 -1.12012111e-04 9.99990816e-01 2.05711725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:20.35, Z:0.21 [[ 8.87080502e-01 -4.61598709e-01 -3.84892519e-03 9.08735010e+01] [ 4.61594871e-01 8.87088846e-01 -1.88510190e-03 2.03506157e+01] [ 4.28449921e-03 -1.04406982e-04 9.99990816e-01 2.07716472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.90, Y:20.36, Z:0.21 [[ 8.89246372e-01 -4.57412372e-01 -3.84855898e-03 9.09003231e+01] [ 4.57408492e-01 8.89254696e-01 -1.88584924e-03 2.03596000e+01] [ 4.28495992e-03 -8.33789688e-05 9.99990816e-01 2.05737634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:20.37, Z:0.21 [[ 8.90337557e-01 -4.55284773e-01 -3.84844494e-03 9.09264540e+01] [ 4.55280873e-01 8.90345871e-01 -1.88608193e-03 2.03705794e+01] [ 4.28515145e-03 -7.28737919e-05 9.99990816e-01 2.10136783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.95, Y:20.38, Z:0.21 [[ 8.91588558e-01 -4.52830028e-01 -3.84833217e-03 9.09528917e+01] [ 4.52826103e-01 8.91596861e-01 -1.88631200e-03 2.03812815e+01] [ 4.28533960e-03 -6.08110611e-05 9.99990816e-01 2.10833484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:20.39, Z:0.21 [[ 8.94072481e-01 -4.47905786e-01 -3.84796343e-03 9.09795376e+01] [ 4.47901812e-01 8.94080760e-01 -1.88706392e-03 2.03903749e+01] [ 4.28561691e-03 -3.63378743e-05 9.99990816e-01 2.07901667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.00, Y:20.40, Z:0.21 [[ 8.95219324e-01 -4.45609196e-01 -3.84784875e-03 9.10040584e+01] [ 4.45605200e-01 8.95227593e-01 -1.88729772e-03 2.04010047e+01] [ 4.28569760e-03 -2.50760197e-05 9.99990816e-01 2.06387032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:20.41, Z:0.21 [[ 8.97014574e-01 -4.41984219e-01 -3.84769552e-03 9.10299059e+01] [ 4.41980188e-01 8.97022826e-01 -1.88761008e-03 2.04119051e+01] [ 4.28576457e-03 -7.39144116e-06 9.99990816e-01 2.06368279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:20.42, Z:0.21 [[ 8.97688475e-01 -4.40613889e-01 -3.84747578e-03 9.10549791e+01] [ 4.40609843e-01 8.97696720e-01 -1.88805786e-03 2.04237209e+01] [ 4.28577090e-03 -3.47917164e-07 9.99990816e-01 2.06549360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:20.44, Z:0.21 [[ 8.98460945e-01 -4.39036592e-01 -3.84711496e-03 9.10794656e+01] [ 4.39032529e-01 8.98469182e-01 -1.88879277e-03 2.04351157e+01] [ 4.28576337e-03 7.99792757e-06 9.99990816e-01 2.06827105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:20.45, Z:0.21 [[ 8.99821157e-01 -4.36242004e-01 -3.84686933e-03 9.11060164e+01] [ 4.36237914e-01 8.99829380e-01 -1.88929292e-03 2.04462483e+01] [ 4.28571497e-03 2.18754939e-05 9.99990816e-01 2.08595544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:20.46, Z:0.21 [[ 9.01420784e-01 -4.32926985e-01 -3.84656030e-03 9.11323564e+01] [ 4.32922861e-01 9.01428990e-01 -1.88992188e-03 2.04588956e+01] [ 4.28559915e-03 3.83509700e-05 9.99990816e-01 2.11851756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:20.47, Z:0.21 [[ 9.02260974e-01 -4.31173215e-01 -3.84623943e-03 9.11563833e+01] [ 4.31169073e-01 9.02269171e-01 -1.89057467e-03 2.04710806e+01] [ 4.28550842e-03 4.74122508e-05 9.99990816e-01 2.11454837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:20.48, Z:0.21 [[ 9.02837833e-01 -4.29964015e-01 -3.84607966e-03 9.11807923e+01] [ 4.29959861e-01 9.02846024e-01 -1.89089965e-03 2.04838431e+01] [ 4.28543653e-03 5.35158669e-05 9.99990816e-01 2.12058864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:20.50, Z:0.21 [[ 9.03934556e-01 -4.27653515e-01 -3.84572573e-03 9.12050955e+01] [ 4.27649336e-01 9.03942734e-01 -1.89161920e-03 2.04970875e+01] [ 4.28527343e-03 6.52779058e-05 9.99990816e-01 2.11787269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:20.51, Z:0.21 [[ 9.04265255e-01 -4.26953817e-01 -3.84537181e-03 9.12301737e+01] [ 4.26949629e-01 9.04273428e-01 -1.89233839e-03 2.05103569e+01] [ 4.28520865e-03 6.93957931e-05 9.99990816e-01 2.11970278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:20.52, Z:0.21 [[ 9.04470950e-01 -4.26517898e-01 -3.84501312e-03 9.12542955e+01] [ 4.26513703e-01 9.04479119e-01 -1.89306692e-03 2.05241781e+01] [ 4.28516100e-03 7.22732544e-05 9.99990816e-01 2.12648734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:20.54, Z:0.21 [[ 9.04439176e-01 -4.26585274e-01 -3.84464580e-03 9.12784972e+01] [ 4.26581076e-01 9.04447344e-01 -1.89381262e-03 2.05361650e+01] [ 4.28515226e-03 7.27851839e-05 9.99990816e-01 2.11619195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:20.55, Z:0.21 [[ 9.04204631e-01 -4.27082199e-01 -3.84448541e-03 9.13028476e+01] [ 4.27078005e-01 9.04212801e-01 -1.89413816e-03 2.05484141e+01] [ 4.28518561e-03 7.07933383e-05 9.99990816e-01 2.10562384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.33, Y:20.56, Z:0.21 [[ 9.03766434e-01 -4.28008708e-01 -3.84432992e-03 9.13275411e+01] [ 4.28004520e-01 9.03774608e-01 -1.89445368e-03 2.05618541e+01] [ 4.28525044e-03 6.67530633e-05 9.99990816e-01 2.10685261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:20.58, Z:0.21 [[ 9.03533621e-01 -4.28499964e-01 -3.84397553e-03 9.13518620e+01] [ 4.28495778e-01 9.03541796e-01 -1.89517250e-03 2.05754811e+01] [ 4.28527390e-03 6.52247870e-05 9.99990816e-01 2.11084482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.38, Y:20.59, Z:0.21 [[ 9.03317408e-01 -4.28955575e-01 -3.84386589e-03 9.13755933e+01] [ 4.28951392e-01 9.03325584e-01 -1.89539485e-03 2.05897895e+01] [ 4.28530259e-03 6.33115384e-05 9.99990816e-01 2.11674297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:20.60, Z:0.21 [[ 9.03204775e-01 -4.29192686e-01 -3.84351564e-03 9.13996416e+01] [ 4.29188502e-01 9.03212951e-01 -1.89610482e-03 2.06032955e+01] [ 4.28530742e-03 6.29782100e-05 9.99990816e-01 2.12550895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:20.62, Z:0.21 [[ 9.03213599e-01 -4.29174119e-01 -3.84315356e-03 9.14228213e+01] [ 4.29169932e-01 9.03221773e-01 -1.89683843e-03 2.06165939e+01] [ 4.28529393e-03 6.38843151e-05 9.99990816e-01 2.10883221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:20.63, Z:0.21 [[ 9.02943644e-01 -4.29741792e-01 -3.84299625e-03 9.14463215e+01] [ 4.29737609e-01 9.02951819e-01 -1.89715709e-03 2.06319212e+01] [ 4.28532814e-03 6.15459192e-05 9.99990816e-01 2.08356815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:20.65, Z:0.21 [[ 9.02526099e-01 -4.30618013e-01 -3.84288808e-03 9.14703544e+01] [ 4.30613836e-01 9.02534279e-01 -1.89737617e-03 2.06454931e+01] [ 4.28538258e-03 5.76307339e-05 9.99990816e-01 2.10010236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:20.66, Z:0.21 [[ 9.01730702e-01 -4.32281130e-01 -3.84251778e-03 9.14930939e+01] [ 4.32276966e-01 9.01738888e-01 -1.89812581e-03 2.06611781e+01] [ 4.28547167e-03 5.05663904e-05 9.99990816e-01 2.08040620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:20.68, Z:0.21 [[ 9.01056333e-01 -4.33685049e-01 -3.84235711e-03 9.15171876e+01] [ 4.33680896e-01 9.01064524e-01 -1.89845098e-03 2.06759032e+01] [ 4.28554149e-03 4.42544019e-05 9.99990816e-01 2.08246995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.54, Y:20.69, Z:0.21 [[ 8.99590812e-01 -4.36716854e-01 -3.84201692e-03 9.15418548e+01] [ 4.36712725e-01 8.99599016e-01 -1.89913920e-03 2.06912638e+01] [ 4.28566073e-03 3.05905009e-05 9.99990816e-01 2.12459387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:20.70, Z:0.21 [[ 8.98740165e-01 -4.38464773e-01 -3.84169278e-03 9.15660967e+01] [ 4.38460658e-01 8.98748375e-01 -1.89979466e-03 2.07046481e+01] [ 4.28570818e-03 2.29906239e-05 9.99990816e-01 2.13725316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:20.72, Z:0.21 [[ 8.97950434e-01 -4.40079836e-01 -3.84131720e-03 9.15901621e+01] [ 4.40075732e-01 8.97958650e-01 -1.90055377e-03 2.07179826e+01] [ 4.28573940e-03 1.61326081e-05 9.99990816e-01 2.12079240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.61, Y:20.73, Z:0.21 [[ 8.96640225e-01 -4.42743213e-01 -3.84115433e-03 9.16139718e+01] [ 4.42739132e-01 8.96648453e-01 -1.90088289e-03 2.07332526e+01] [ 4.28576808e-03 3.77873085e-06 9.99990816e-01 2.13455077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:20.75, Z:0.21 [[ 8.96087531e-01 -4.43860772e-01 -3.84079402e-03 9.16370950e+01] [ 4.43856699e-01 8.96095762e-01 -1.90161062e-03 2.07468088e+01] [ 4.28576960e-03 -7.52587715e-07 9.99990816e-01 2.13596166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:20.76, Z:0.21 [[ 8.95138882e-01 -4.45770829e-01 -3.84063834e-03 9.16609342e+01] [ 4.45766772e-01 8.95147121e-01 -1.90192500e-03 2.07628129e+01] [ 4.28575903e-03 -9.54194145e-06 9.99990816e-01 2.12402983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:20.78, Z:0.21 [[ 8.94580517e-01 -4.46890312e-01 -3.84030426e-03 9.16849609e+01] [ 4.46886262e-01 8.94588760e-01 -1.90259931e-03 2.07767166e+01] [ 4.28574623e-03 -1.41509475e-05 9.99990816e-01 2.12910121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:20.79, Z:0.21 [[ 8.93723161e-01 -4.48602458e-01 -3.83993699e-03 9.17081318e+01] [ 4.48598421e-01 8.93731410e-01 -1.90334028e-03 2.07906895e+01] [ 4.28571543e-03 -2.15303734e-05 9.99990816e-01 2.12402791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:20.80, Z:0.21 [[ 8.93166559e-01 -4.49709633e-01 -3.83968700e-03 9.17324470e+01] [ 4.49705604e-01 8.93174812e-01 -1.90384446e-03 2.08043210e+01] [ 4.28568891e-03 -2.62785508e-05 9.99990816e-01 2.13136051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:20.82, Z:0.22 [[ 8.92184969e-01 -4.51653894e-01 -3.83935506e-03 9.17572224e+01] [ 4.51649880e-01 8.92193229e-01 -1.90451361e-03 2.08196838e+01] [ 4.28562758e-03 -3.48658355e-05 9.99990816e-01 2.15489018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:20.83, Z:0.22 [[ 8.91617388e-01 -4.52773338e-01 -3.83903202e-03 9.17815192e+01] [ 4.52769331e-01 8.91625652e-01 -1.90516457e-03 2.08326646e+01] [ 4.28558715e-03 -3.95180987e-05 9.99990816e-01 2.15206842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:20.85, Z:0.22 [[ 8.91090597e-01 -4.53809224e-01 -3.83866452e-03 9.18065420e+01] [ 4.53805224e-01 8.91098864e-01 -1.90590475e-03 2.08459597e+01] [ 4.28554675e-03 -4.36722136e-05 9.99990816e-01 2.15148098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:20.86, Z:0.22 [[ 8.90454087e-01 -4.55056905e-01 -3.83829565e-03 9.18298348e+01] [ 4.55052913e-01 8.90462358e-01 -1.90664733e-03 2.08594518e+01] [ 4.28549082e-03 -4.88457039e-05 9.99990816e-01 2.15398032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.85, Y:20.87, Z:0.22 [[ 8.90407095e-01 -4.55148847e-01 -3.83813540e-03 9.18542894e+01] [ 4.55144855e-01 8.90415366e-01 -1.90696986e-03 2.08732703e+01] [ 4.28548987e-03 -4.89280887e-05 9.99990816e-01 2.16640095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:20.89, Z:0.22 [[ 8.90530079e-01 -4.54908177e-01 -3.83776991e-03 9.18779446e+01] [ 4.54904179e-01 8.90538348e-01 -1.90770512e-03 2.08859605e+01] [ 4.28551193e-03 -4.69487787e-05 9.99990816e-01 2.16830769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:20.90, Z:0.22 [[ 8.90648770e-01 -4.54675755e-01 -3.83761170e-03 9.19023884e+01] [ 4.54671753e-01 8.90657036e-01 -1.90802333e-03 2.08991751e+01] [ 4.28552781e-03 -4.54750046e-05 9.99990816e-01 2.17391531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:20.91, Z:0.22 [[ 8.90785721e-01 -4.54407388e-01 -3.83724546e-03 9.19261924e+01] [ 4.54403381e-01 8.90793985e-01 -1.90875959e-03 2.09116554e+01] [ 4.28554964e-03 -4.33615184e-05 9.99990816e-01 2.17495772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.95, Y:20.92, Z:0.22 [[ 8.91369342e-01 -4.53261484e-01 -3.83708645e-03 9.19494851e+01] [ 4.53257465e-01 8.91377600e-01 -1.90907919e-03 2.09248540e+01] [ 4.28560498e-03 -3.74934138e-05 9.99990816e-01 2.17512989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:20.94, Z:0.22 [[ 8.92192991e-01 -4.51638068e-01 -3.83692836e-03 9.19730848e+01] [ 4.51634033e-01 8.92201241e-01 -1.90939686e-03 2.09395261e+01] [ 4.28566856e-03 -2.93369316e-05 9.99990816e-01 2.17822429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:20.95, Z:0.22 [[ 8.92652097e-01 -4.50729980e-01 -3.83656302e-03 9.19968532e+01] [ 4.50725933e-01 8.92660341e-01 -1.91013067e-03 2.09531854e+01] [ 4.28570081e-03 -2.41562944e-05 9.99990816e-01 2.16609405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:20.97, Z:0.22 [[ 8.93146198e-01 -4.49750098e-01 -3.83640360e-03 9.20213664e+01] [ 4.49746041e-01 8.93154437e-01 -1.91045079e-03 2.09671811e+01] [ 4.28572633e-03 -1.90954666e-05 9.99990816e-01 2.17429852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:20.98, Z:0.22 [[ 8.94056022e-01 -4.47938740e-01 -3.83604050e-03 9.20449157e+01] [ 4.47934663e-01 8.94064251e-01 -1.91117960e-03 2.09826028e+01] [ 4.28575806e-03 -9.59387587e-06 9.99990816e-01 2.17423037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:21.00, Z:0.22 [[ 8.94351055e-01 -4.47349392e-01 -3.83567732e-03 9.20693107e+01] [ 4.47345306e-01 8.94359280e-01 -1.91190822e-03 2.09969065e+01] [ 4.28576458e-03 -5.95511002e-06 9.99990816e-01 2.17648634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:21.01, Z:0.22 [[ 8.94685748e-01 -4.46679641e-01 -3.83531540e-03 9.20921738e+01] [ 4.46675547e-01 8.94693969e-01 -1.91263396e-03 2.10115247e+01] [ 4.28576821e-03 -1.93525492e-06 9.99990816e-01 2.16637927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:21.03, Z:0.22 [[ 8.94714975e-01 -4.46621099e-01 -3.83506909e-03 9.21155853e+01] [ 4.46617002e-01 8.94723194e-01 -1.91312771e-03 2.10250576e+01] [ 4.28576847e-03 -1.10304507e-06 9.99990816e-01 2.16352637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:21.04, Z:0.22 [[ 8.94661220e-01 -4.46728773e-01 -3.83482411e-03 9.21400967e+01] [ 4.46724674e-01 8.94669438e-01 -1.91361864e-03 2.10396090e+01] [ 4.28576844e-03 -1.07016800e-06 9.99990816e-01 2.16384632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:21.05, Z:0.22 [[ 8.94309307e-01 -4.47432855e-01 -3.83446930e-03 9.21626539e+01] [ 4.47428760e-01 8.94317528e-01 -1.91432933e-03 2.10549914e+01] [ 4.28576695e-03 -3.64930954e-06 9.99990816e-01 2.16701948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:21.07, Z:0.22 [[ 8.94010445e-01 -4.48029711e-01 -3.83431601e-03 9.21864276e+01] [ 4.48025620e-01 8.94018668e-01 -1.91463633e-03 2.10688065e+01] [ 4.28576405e-03 -6.16692674e-06 9.99990816e-01 2.17123333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:21.08, Z:0.22 [[ 8.93010775e-01 -4.50018950e-01 -3.83407870e-03 9.22109330e+01] [ 4.50014876e-01 8.93019005e-01 -1.91511141e-03 2.10837069e+01] [ 4.28574158e-03 -1.51773220e-05 9.99990816e-01 2.19627147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:21.10, Z:0.22 [[ 8.92306534e-01 -4.51413725e-01 -3.83376485e-03 9.22350642e+01] [ 4.51409661e-01 8.92314770e-01 -1.91573949e-03 2.10963248e+01] [ 4.28571610e-03 -2.11716229e-05 9.99990816e-01 2.20065190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:21.11, Z:0.22 [[ 8.90220334e-01 -4.55514062e-01 -3.83360972e-03 9.22607585e+01] [ 4.55510034e-01 8.90228587e-01 -1.91604988e-03 2.11087704e+01] [ 4.28557663e-03 -4.05411317e-05 9.99990816e-01 2.22719801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:21.12, Z:0.22 [[ 8.88878723e-01 -4.58126534e-01 -3.83329058e-03 9.22856191e+01] [ 4.58122528e-01 8.88886987e-01 -1.91668815e-03 2.11207689e+01] [ 4.28544781e-03 -5.24134503e-05 9.99990816e-01 2.23580168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:21.13, Z:0.22 [[ 8.85993029e-01 -4.63682715e-01 -3.83291434e-03 9.23103671e+01] [ 4.63678758e-01 8.86001317e-01 -1.91744025e-03 2.11325070e+01] [ 4.28505105e-03 -7.84022648e-05 9.99990816e-01 2.23956370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:21.15, Z:0.22 [[ 8.85903441e-01 -4.63853860e-01 -3.83265760e-03 9.23357442e+01] [ 4.63849902e-01 8.85911728e-01 -1.91795329e-03 2.11453978e+01] [ 4.28504635e-03 -7.86564327e-05 9.99990816e-01 2.24078416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:21.16, Z:0.22 [[ 8.84478363e-01 -4.66565471e-01 -3.83228695e-03 9.23598802e+01] [ 4.66561535e-01 8.84486661e-01 -1.91869359e-03 2.11570957e+01] [ 4.28480287e-03 -9.09547129e-05 9.99990816e-01 2.24369886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:21.17, Z:0.22 [[ 8.83230754e-01 -4.68922969e-01 -3.83212589e-03 9.23841263e+01] [ 4.68919053e-01 8.83239061e-01 -1.91901523e-03 2.11682863e+01] [ 4.28455359e-03 -1.02023578e-04 9.99990816e-01 2.23798986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:21.18, Z:0.22 [[ 8.81000109e-01 -4.73100544e-01 -3.83188016e-03 9.24101787e+01] [ 4.73096665e-01 8.81008434e-01 -1.91950578e-03 2.11776737e+01] [ 4.28403796e-03 -1.21764926e-04 9.99990816e-01 2.23088700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:21.19, Z:0.22 [[ 8.80114125e-01 -4.74746718e-01 -3.83152317e-03 9.24363562e+01] [ 4.74742852e-01 8.80122456e-01 -1.92021810e-03 2.11888750e+01] [ 4.28382682e-03 -1.28977164e-04 9.99990816e-01 2.22724049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:21.20, Z:0.22 [[ 8.78722882e-01 -4.77316895e-01 -3.83116155e-03 9.24639305e+01] [ 4.77313050e-01 8.78731223e-01 -1.92093932e-03 2.11973101e+01] [ 4.28345806e-03 -1.40690073e-04 9.99990816e-01 2.22258629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:21.21, Z:0.22 [[ 8.78208180e-01 -4.78263231e-01 -3.83079533e-03 9.24890971e+01] [ 4.78259392e-01 8.78216523e-01 -1.92166936e-03 2.12070231e+01] [ 4.28333155e-03 -1.44488099e-04 9.99990816e-01 2.22343883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:21.22, Z:0.22 [[ 8.77716495e-01 -4.79164984e-01 -3.83054604e-03 9.25163133e+01] [ 4.79161152e-01 8.77724841e-01 -1.92216616e-03 2.12156894e+01] [ 4.28320013e-03 -1.48331908e-04 9.99990816e-01 2.23250956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:21.23, Z:0.22 [[ 8.77688517e-01 -4.79216230e-01 -3.83043337e-03 9.25420562e+01] [ 4.79212397e-01 8.77696863e-01 -1.92239065e-03 2.12262262e+01] [ 4.28320015e-03 -1.48330962e-04 9.99990816e-01 2.23610185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:21.24, Z:0.22 [[ 8.77868250e-01 -4.78886903e-01 -3.83007466e-03 9.25684721e+01] [ 4.78883064e-01 8.77876593e-01 -1.92310507e-03 2.12362453e+01] [ 4.28328272e-03 -1.45925005e-04 9.99990816e-01 2.24109487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:21.24, Z:0.22 [[ 8.78767131e-01 -4.77235437e-01 -3.82971593e-03 9.25963036e+01] [ 4.77231579e-01 8.78775465e-01 -1.92381919e-03 2.12440358e+01] [ 4.28357509e-03 -1.37072309e-04 9.99990816e-01 2.24237850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:21.25, Z:0.22 [[ 8.79441711e-01 -4.75991191e-01 -3.82935493e-03 9.26217841e+01] [ 4.75987318e-01 8.79450038e-01 -1.92453749e-03 2.12535097e+01] [ 4.28378923e-03 -1.30205843e-04 9.99990816e-01 2.23198777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:21.26, Z:0.22 [[ 8.81037437e-01 -4.73031049e-01 -3.82910909e-03 9.26495379e+01] [ 4.73027146e-01 8.81045750e-01 -1.92502649e-03 2.12597571e+01] [ 4.28421759e-03 -1.15252138e-04 9.99990816e-01 2.24095344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.68, Y:21.27, Z:0.22 [[ 8.82035529e-01 -4.71167345e-01 -3.82876448e-03 9.26752892e+01] [ 4.71163421e-01 8.82043832e-01 -1.92571165e-03 2.12694981e+01] [ 4.28447054e-03 -1.05427684e-04 9.99990816e-01 2.24151969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:21.28, Z:0.22 [[ 8.83143062e-01 -4.69088130e-01 -3.82860382e-03 9.27015414e+01] [ 4.69084186e-01 8.83151356e-01 -1.92603103e-03 2.12801801e+01] [ 4.28471494e-03 -9.49765655e-05 9.99990816e-01 2.24287763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:21.29, Z:0.22 [[ 8.85861187e-01 -4.63934589e-01 -3.82822897e-03 9.27277672e+01] [ 4.63930593e-01 8.85869456e-01 -1.92677579e-03 2.12891233e+01] [ 4.28520905e-03 -6.91766471e-05 9.99990816e-01 2.24379231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:21.30, Z:0.22 [[ 8.87215007e-01 -4.61340307e-01 -3.82797314e-03 9.27534669e+01] [ 4.61336284e-01 8.87223263e-01 -1.92728391e-03 2.12997089e+01] [ 4.28540057e-03 -5.60676994e-05 9.99990816e-01 2.23905986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:21.31, Z:0.22 [[ 8.89954447e-01 -4.56033368e-01 -3.82760916e-03 9.27802384e+01] [ 4.56029293e-01 8.89962677e-01 -1.92800653e-03 2.13074397e+01] [ 4.28566460e-03 -2.96639139e-05 9.99990816e-01 2.23058636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:21.32, Z:0.22 [[ 8.91162187e-01 -4.53668720e-01 -3.82745069e-03 9.28059134e+01] [ 4.53664622e-01 8.91170406e-01 -1.92832105e-03 2.13177868e+01] [ 4.28572973e-03 -1.79321642e-05 9.99990816e-01 2.23289752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:21.33, Z:0.22 [[ 8.93523085e-01 -4.49000946e-01 -3.82708731e-03 9.28319839e+01] [ 4.48996802e-01 8.93531281e-01 -1.92904198e-03 2.13264865e+01] [ 4.28576390e-03 5.29357838e-06 9.99990816e-01 2.23461923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:21.34, Z:0.22 [[ 8.94686448e-01 -4.46678313e-01 -3.82692900e-03 9.28573678e+01] [ 4.46674146e-01 8.94694632e-01 -1.92935599e-03 2.13374809e+01] [ 4.28573431e-03 1.67784087e-05 9.99990816e-01 2.23330602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:21.35, Z:0.22 [[ 8.96854011e-01 -4.42310119e-01 -3.82656802e-03 9.28826690e+01] [ 4.42305909e-01 8.96862173e-01 -1.93007167e-03 2.13472106e+01] [ 4.28559434e-03 3.84788654e-05 9.99990816e-01 2.23562965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:21.36, Z:0.22 [[ 8.97866437e-01 -4.40251315e-01 -3.82641100e-03 9.29081915e+01] [ 4.40247085e-01 8.97874589e-01 -1.93038293e-03 2.13584874e+01] [ 4.28549082e-03 4.86597538e-05 9.99990816e-01 2.24050144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.93, Y:21.37, Z:0.22 [[ 8.98746103e-01 -4.38452737e-01 -3.82605414e-03 9.29338391e+01] [ 4.38448489e-01 8.98754245e-01 -1.93108996e-03 2.13696954e+01] [ 4.28537408e-03 5.80319161e-05 9.99990816e-01 2.24355990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:21.38, Z:0.22 [[ 9.00245897e-01 -4.35365007e-01 -3.82569690e-03 9.29599373e+01] [ 4.35360727e-01 9.00254023e-01 -1.93179743e-03 2.13801726e+01] [ 4.28513603e-03 7.35345208e-05 9.99990816e-01 2.24041886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:21.39, Z:0.22 [[ 9.00864015e-01 -4.34084546e-01 -3.82533617e-03 9.29846163e+01] [ 4.34080252e-01 9.00872133e-01 -1.93251148e-03 2.13918979e+01] [ 4.28501213e-03 8.04271636e-05 9.99990816e-01 2.22918663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.01, Y:21.40, Z:0.22 [[ 9.01894059e-01 -4.31940360e-01 -3.82517904e-03 9.30105316e+01] [ 4.31936045e-01 9.01902166e-01 -1.93282245e-03 2.14037398e+01] [ 4.28480129e-03 9.09683817e-05 9.99990816e-01 2.21921969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:21.42, Z:0.22 [[ 9.02295596e-01 -4.31100949e-01 -3.82481129e-03 9.30343248e+01] [ 4.31096624e-01 9.02303697e-01 -1.93354991e-03 2.14154762e+01] [ 4.28469657e-03 9.57703334e-05 9.99990816e-01 2.20855678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:21.43, Z:0.22 [[ 9.02351538e-01 -4.30983843e-01 -3.82465137e-03 9.30588607e+01] [ 4.30979516e-01 9.02359639e-01 -1.93386619e-03 2.14279958e+01] [ 4.28467611e-03 9.66807373e-05 9.99990816e-01 2.20555497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:21.44, Z:0.22 [[ 9.02121579e-01 -4.31464983e-01 -3.82429069e-03 9.30838246e+01] [ 4.31460657e-01 9.02129680e-01 -1.93457918e-03 2.14401337e+01] [ 4.28470931e-03 9.51946542e-05 9.99990816e-01 2.18117639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.11, Y:21.45, Z:0.22 [[ 9.01760581e-01 -4.32218962e-01 -3.82417857e-03 9.31092145e+01] [ 4.32214641e-01 9.01768685e-01 -1.93480079e-03 2.14523539e+01] [ 4.28478207e-03 9.18611122e-05 9.99990816e-01 2.19092851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:21.46, Z:0.22 [[ 9.01511319e-01 -4.32738629e-01 -3.82381323e-03 9.31344229e+01] [ 4.32734310e-01 9.01519424e-01 -1.93552257e-03 2.14647462e+01] [ 4.28481728e-03 9.02003271e-05 9.99990816e-01 2.19908094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.16, Y:21.48, Z:0.22 [[ 9.01493798e-01 -4.32775127e-01 -3.82369961e-03 9.31593833e+01] [ 4.32770808e-01 9.01501903e-01 -1.93574699e-03 2.14780567e+01] [ 4.28481563e-03 9.02783371e-05 9.99990816e-01 2.20907664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:21.49, Z:0.22 [[ 9.01449892e-01 -4.32866579e-01 -3.82333905e-03 9.31832056e+01] [ 4.32862257e-01 9.01457995e-01 -1.93645889e-03 2.14923458e+01] [ 4.28480789e-03 9.06414839e-05 9.99990816e-01 2.21754309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:21.51, Z:0.22 [[ 9.01291018e-01 -4.33197283e-01 -3.82297535e-03 9.32067518e+01] [ 4.33192960e-01 9.01299121e-01 -1.93717663e-03 2.15055833e+01] [ 4.28482398e-03 8.98738827e-05 9.99990816e-01 2.21433470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:21.52, Z:0.22 [[ 9.01087813e-01 -4.33619810e-01 -3.82281643e-03 9.32310543e+01] [ 4.33615490e-01 9.01095918e-01 -1.93749019e-03 2.15190247e+01] [ 4.28485841e-03 8.82163733e-05 9.99990816e-01 2.21388003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:21.53, Z:0.22 [[ 9.00276876e-01 -4.35300970e-01 -3.82245411e-03 9.32537862e+01] [ 4.35296663e-01 9.00284988e-01 -1.93820475e-03 2.15328523e+01] [ 4.28500046e-03 8.10193973e-05 9.99990816e-01 2.20355551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.28, Y:21.55, Z:0.22 [[ 8.99675173e-01 -4.36543210e-01 -3.82220752e-03 9.32783028e+01] [ 4.36538912e-01 8.99683289e-01 -1.93869091e-03 2.15467820e+01] [ 4.28509859e-03 7.56497697e-05 9.99990816e-01 2.20559547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:21.56, Z:0.22 [[ 8.98606554e-01 -4.38738708e-01 -3.82184093e-03 9.33008676e+01] [ 4.38734426e-01 8.98614679e-01 -1.93941333e-03 2.15612938e+01] [ 4.28525806e-03 6.59963451e-05 9.99990816e-01 2.19208008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:21.58, Z:0.22 [[ 8.97915372e-01 -4.40151541e-01 -3.82168126e-03 9.33254663e+01] [ 4.40147271e-01 8.97923503e-01 -1.93972791e-03 2.15756618e+01] [ 4.28535165e-03 5.96089326e-05 9.99990816e-01 2.20245902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:21.59, Z:0.22 [[ 8.97370008e-01 -4.41262355e-01 -3.82131611e-03 9.33500082e+01] [ 4.41258092e-01 8.97378143e-01 -1.94044699e-03 2.15898571e+01] [ 4.28541176e-03 5.51122703e-05 9.99990816e-01 2.21128595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:21.61, Z:0.22 [[ 8.96442151e-01 -4.43144299e-01 -3.82095122e-03 9.33736330e+01] [ 4.43140050e-01 8.96450293e-01 -1.94116523e-03 2.16056429e+01] [ 4.28550915e-03 4.69258181e-05 9.99990816e-01 2.22112912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:21.62, Z:0.22 [[ 8.95591939e-01 -4.44860070e-01 -3.82058183e-03 9.33963565e+01] [ 4.44855834e-01 8.95600087e-01 -1.94189200e-03 2.16195966e+01] [ 4.28558363e-03 3.95347065e-05 9.99990816e-01 2.22886293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:21.63, Z:0.22 [[ 8.95090330e-01 -4.45868485e-01 -3.82042165e-03 9.34202394e+01] [ 4.45864256e-01 8.95098482e-01 -1.94220708e-03 2.16327097e+01] [ 4.28562255e-03 3.50613178e-05 9.99990816e-01 2.21835123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:21.65, Z:0.22 [[ 8.94343779e-01 -4.47364070e-01 -3.82026317e-03 9.34445596e+01] [ 4.47359854e-01 8.94351937e-01 -1.94251876e-03 2.16462703e+01] [ 4.28567286e-03 2.82471924e-05 9.99990816e-01 2.22909760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.838623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.47, Y:21.66, Z:0.23 [[ 8.92940455e-01 -4.50158586e-01 -3.81988778e-03 9.34675860e+01] [ 4.50154392e-01 8.92948625e-01 -1.94325667e-03 2.16610811e+01] [ 4.28573721e-03 1.56732328e-05 9.99990816e-01 2.25628470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:21.67, Z:0.22 [[ 8.92041747e-01 -4.51936868e-01 -3.81963191e-03 9.34917310e+01] [ 4.51932688e-01 8.92049924e-01 -1.94375947e-03 2.16745342e+01] [ 4.28575892e-03 7.69807281e-06 9.99990816e-01 2.23649724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:21.69, Z:0.22 [[ 8.90252043e-01 -4.55452207e-01 -3.81925489e-03 9.35154812e+01] [ 4.55448056e-01 8.90260236e-01 -1.94449999e-03 2.16889049e+01] [ 4.28575757e-03 -8.37712852e-06 9.99990816e-01 2.22991099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:21.70, Z:0.22 [[ 8.89443631e-01 -4.57028930e-01 -3.81887067e-03 9.35388737e+01] [ 4.57024790e-01 8.89451829e-01 -1.94525427e-03 2.17023445e+01] [ 4.28573898e-03 -1.51245432e-05 9.99990816e-01 2.21992429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:21.72, Z:0.22 [[ 8.88770025e-01 -4.58337496e-01 -3.81870386e-03 9.35634746e+01] [ 4.58333367e-01 8.88778229e-01 -1.94558168e-03 2.17159756e+01] [ 4.28571389e-03 -2.10647215e-05 9.99990816e-01 2.21940379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:21.73, Z:0.22 [[ 8.87750359e-01 -4.60309374e-01 -3.81832747e-03 9.35875351e+01] [ 4.60305260e-01 8.87758570e-01 -1.94632009e-03 2.17293102e+01] [ 4.28566232e-03 -2.97498557e-05 9.99990816e-01 2.21984544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.61, Y:21.74, Z:0.22 [[ 8.87521464e-01 -4.60750555e-01 -3.81795112e-03 9.36125734e+01] [ 4.60746442e-01 8.87529676e-01 -1.94705806e-03 2.17424341e+01] [ 4.28565300e-03 -3.10515745e-05 9.99990816e-01 2.21832684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:21.76, Z:0.22 [[ 8.87118041e-01 -4.61526820e-01 -3.81783481e-03 9.36369317e+01] [ 4.61522713e-01 8.87126256e-01 -1.94728610e-03 2.17560166e+01] [ 4.28562626e-03 -3.45448478e-05 9.99990816e-01 2.24026713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.66, Y:21.77, Z:0.22 [[ 8.87034438e-01 -4.61687483e-01 -3.81746437e-03 9.36605240e+01] [ 4.61683375e-01 8.87042652e-01 -1.94801204e-03 2.17695248e+01] [ 4.28562650e-03 -3.45060702e-05 9.99990816e-01 2.24286575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:21.78, Z:0.23 [[ 8.86714189e-01 -4.62302256e-01 -3.81721207e-03 9.36842981e+01] [ 4.62298151e-01 8.86722405e-01 -1.94850630e-03 2.17834893e+01] [ 4.28560633e-03 -3.69218993e-05 9.99990816e-01 2.25818675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:21.80, Z:0.23 [[ 8.85996115e-01 -4.63676953e-01 -3.81683470e-03 9.37081052e+01] [ 4.63672857e-01 8.86004335e-01 -1.94924524e-03 2.17972493e+01] [ 4.28555219e-03 -4.27389457e-05 9.99990816e-01 2.25701349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:21.81, Z:0.23 [[ 8.85395302e-01 -4.64823183e-01 -3.81671751e-03 9.37332260e+01] [ 4.64819098e-01 8.85403527e-01 -1.94947468e-03 2.18103431e+01] [ 4.28549617e-03 -4.80274703e-05 9.99990816e-01 2.26468004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:21.82, Z:0.23 [[ 8.83804998e-01 -4.67839887e-01 -3.81634469e-03 9.37576177e+01] [ 4.67835827e-01 8.83813236e-01 -1.95020425e-03 2.18227310e+01] [ 4.28531929e-03 -6.18225036e-05 9.99990816e-01 2.27192810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.78, Y:21.83, Z:0.23 [[ 8.82858486e-01 -4.69623606e-01 -3.81609065e-03 9.37824498e+01] [ 4.69619560e-01 8.82866730e-01 -1.95070122e-03 2.18347962e+01] [ 4.28519482e-03 -6.99176909e-05 9.99990816e-01 2.26992564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.81, Y:21.85, Z:0.23 [[ 8.81026072e-01 -4.73052323e-01 -3.81572324e-03 9.38069102e+01] [ 4.73048306e-01 8.81034331e-01 -1.95141965e-03 2.18458861e+01] [ 4.28490677e-03 -8.57698268e-05 9.99990816e-01 2.25226002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:21.86, Z:0.22 [[ 8.80135495e-01 -4.74707228e-01 -3.81547295e-03 9.38317005e+01] [ 4.74703224e-01 8.80143761e-01 -1.95190889e-03 2.18579838e+01] [ 4.28474997e-03 -9.32730162e-05 9.99990816e-01 2.24105094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:21.87, Z:0.22 [[ 8.79471175e-01 -4.75936863e-01 -3.81510970e-03 9.38573475e+01] [ 4.75932868e-01 8.79479444e-01 -1.95261862e-03 2.18703566e+01] [ 4.28463374e-03 -9.84643119e-05 9.99990816e-01 2.22972959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:21.88, Z:0.22 [[ 8.78772317e-01 -4.77226008e-01 -3.81477132e-03 9.38821936e+01] [ 4.77222022e-01 8.78780591e-01 -1.95327948e-03 2.18804427e+01] [ 4.28450276e-03 -1.04004950e-04 9.99990816e-01 2.22333195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:21.89, Z:0.22 [[ 8.78645757e-01 -4.77458984e-01 -3.81461390e-03 9.39079883e+01] [ 4.77454999e-01 8.78654032e-01 -1.95358686e-03 2.18906750e+01] [ 4.28448348e-03 -1.04795667e-04 9.99990816e-01 2.24050418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:21.90, Z:0.22 [[ 8.78558727e-01 -4.77619108e-01 -3.81450246e-03 9.39332478e+01] [ 4.77615124e-01 8.78567002e-01 -1.95380444e-03 2.19038184e+01] [ 4.28447032e-03 -1.05332121e-04 9.99990816e-01 2.24172462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:21.92, Z:0.23 [[ 8.78505445e-01 -4.77717109e-01 -3.81414625e-03 9.39587169e+01] [ 4.77713122e-01 8.78513718e-01 -1.95449957e-03 2.19150844e+01] [ 4.28447769e-03 -1.05029203e-04 9.99990816e-01 2.25077136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:21.93, Z:0.23 [[ 8.78228465e-01 -4.78226114e-01 -3.81403565e-03 9.39845047e+01] [ 4.78222131e-01 8.78236741e-01 -1.95471536e-03 2.19256924e+01] [ 4.28442217e-03 -1.07269581e-04 9.99990816e-01 2.25400077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:21.93, Z:0.23 [[ 8.77708936e-01 -4.79178965e-01 -3.81368180e-03 9.40108433e+01] [ 4.79174988e-01 8.77717214e-01 -1.95540549e-03 2.19349357e+01] [ 4.28432334e-03 -1.11144059e-04 9.99990816e-01 2.27953640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.04, Y:21.94, Z:0.23 [[ 8.77553174e-01 -4.79464165e-01 -3.81329855e-03 9.40363034e+01] [ 4.79460188e-01 8.77561452e-01 -1.95615259e-03 2.19437930e+01] [ 4.28430888e-03 -1.11696923e-04 9.99990816e-01 2.27159055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:21.95, Z:0.23 [[ 8.77541172e-01 -4.79486132e-01 -3.81313242e-03 9.40610280e+01] [ 4.79482154e-01 8.77549450e-01 -1.95647637e-03 2.19537840e+01] [ 4.28431555e-03 -1.11440375e-04 9.99990816e-01 2.26544149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:21.96, Z:0.23 [[ 8.77673904e-01 -4.79243132e-01 -3.81297871e-03 9.40876468e+01] [ 4.79239150e-01 8.77682179e-01 -1.95677591e-03 2.19641509e+01] [ 4.28435488e-03 -1.09917526e-04 9.99990816e-01 2.26391737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:21.97, Z:0.23 [[ 8.78278648e-01 -4.78133956e-01 -3.81265284e-03 9.41147210e+01] [ 4.78129961e-01 8.78286917e-01 -1.95741064e-03 2.19730726e+01] [ 4.28450760e-03 -1.03791584e-04 9.99990816e-01 2.25456281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:21.98, Z:0.22 [[ 8.78916283e-01 -4.76960830e-01 -3.81230500e-03 9.41401083e+01] [ 4.76956820e-01 8.78924546e-01 -1.95808785e-03 2.19839968e+01] [ 4.28465965e-03 -9.73095722e-05 9.99990816e-01 2.24387043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:21.99, Z:0.22 [[ 8.80568804e-01 -4.73902997e-01 -3.81196055e-03 9.41662568e+01] [ 4.73898956e-01 8.80577051e-01 -1.95875819e-03 2.19927746e+01] [ 4.28498636e-03 -8.16627702e-05 9.99990816e-01 2.24246608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:22.00, Z:0.23 [[ 8.81322685e-01 -4.72499519e-01 -3.81181039e-03 9.41919226e+01] [ 4.72495463e-01 8.81330925e-01 -1.95905036e-03 2.20037016e+01] [ 4.28511673e-03 -7.45075902e-05 9.99990816e-01 2.27030093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:22.01, Z:0.22 [[ 8.82187094e-01 -4.70883642e-01 -3.81142163e-03 9.42166082e+01] [ 4.70879568e-01 8.82195325e-01 -1.95980642e-03 2.20144693e+01] [ 4.28525913e-03 -6.58046394e-05 9.99990816e-01 2.24911757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:22.02, Z:0.23 [[ 8.83925384e-01 -4.67612436e-01 -3.81115676e-03 9.42429465e+01] [ 4.67608329e-01 8.83933599e-01 -1.96032137e-03 2.20239387e+01] [ 4.28548016e-03 -4.93508196e-05 9.99990816e-01 2.26097178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:22.03, Z:0.23 [[ 8.84801070e-01 -4.65953372e-01 -3.81078873e-03 9.42679838e+01] [ 4.65949248e-01 8.84809275e-01 -1.96103654e-03 2.20345938e+01] [ 4.28557281e-03 -4.05069155e-05 9.99990816e-01 2.25936899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.29, Y:22.05, Z:0.23 [[ 8.86408772e-01 -4.62887640e-01 -3.81062829e-03 9.42934719e+01] [ 4.62883485e-01 8.86416963e-01 -1.96134826e-03 2.20454073e+01] [ 4.28568942e-03 -2.53205962e-05 9.99990816e-01 2.26365439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:22.06, Z:0.23 [[ 8.87265954e-01 -4.61242461e-01 -3.81026001e-03 9.43184826e+01] [ 4.61238288e-01 8.87274136e-01 -1.96206345e-03 2.20579320e+01] [ 4.28573213e-03 -1.65657068e-05 9.99990816e-01 2.26377363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:22.07, Z:0.23 [[ 8.88782060e-01 -4.58314232e-01 -3.80989265e-03 9.43437052e+01] [ 4.58310029e-01 8.88790226e-01 -1.96277653e-03 2.20681539e+01] [ 4.28576376e-03 -1.63144278e-06 9.99990816e-01 2.26465902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:22.08, Z:0.23 [[ 8.89425011e-01 -4.57065243e-01 -3.80973319e-03 9.43691654e+01] [ 4.57061027e-01 8.89433170e-01 -1.96308599e-03 2.20794730e+01] [ 4.28576144e-03 4.73721358e-06 9.99990816e-01 2.26825387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.39, Y:22.09, Z:0.23 [[ 8.90589938e-01 -4.54791217e-01 -3.80937044e-03 9.43940466e+01] [ 4.54786978e-01 8.90598085e-01 -1.96378965e-03 2.20913727e+01] [ 4.28573230e-03 1.64792381e-05 9.99990816e-01 2.32125315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:22.10, Z:0.23 [[ 8.91261656e-01 -4.53473430e-01 -3.80902155e-03 9.44192031e+01] [ 4.53469175e-01 8.91269795e-01 -1.96446613e-03 2.21027106e+01] [ 4.28569905e-03 2.35794725e-05 9.99990816e-01 2.27585380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.44, Y:22.11, Z:0.23 [[ 8.91804925e-01 -4.52404097e-01 -3.80890540e-03 9.44448063e+01] [ 4.52399832e-01 8.91813059e-01 -1.96469131e-03 2.21148587e+01] [ 4.28566597e-03 2.89732222e-05 9.99990816e-01 2.27569738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:22.13, Z:0.23 [[ 8.92890008e-01 -4.50258736e-01 -3.80853635e-03 9.44697136e+01] [ 4.50254448e-01 8.92898129e-01 -1.96540646e-03 2.21269521e+01] [ 4.28557640e-03 4.00813555e-05 9.99990816e-01 2.28669184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:22.14, Z:0.23 [[ 8.93409081e-01 -4.49227906e-01 -3.80815554e-03 9.44948307e+01] [ 4.49223605e-01 8.93417196e-01 -1.96614402e-03 2.21401599e+01] [ 4.28551841e-03 4.58575577e-05 9.99990816e-01 2.28973827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:22.15, Z:0.23 [[ 8.94530411e-01 -4.46990879e-01 -3.80777104e-03 9.45192292e+01] [ 4.46986555e-01 8.94538513e-01 -1.96688839e-03 2.21514309e+01] [ 4.28537902e-03 5.74190185e-05 9.99990816e-01 2.27521812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.54, Y:22.16, Z:0.23 [[ 8.94931535e-01 -4.46187236e-01 -3.80760410e-03 9.45438988e+01] [ 4.46182904e-01 8.94939633e-01 -1.96721152e-03 2.21643605e+01] [ 4.28532048e-03 6.16317693e-05 9.99990816e-01 2.29167779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:22.18, Z:0.23 [[ 8.96033421e-01 -4.43970284e-01 -3.80722838e-03 9.45674973e+01] [ 4.43965928e-01 8.96041507e-01 -1.96793839e-03 2.21789229e+01] [ 4.28514082e-03 7.30588868e-05 9.99990816e-01 2.30853560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:22.19, Z:0.23 [[ 8.96558496e-01 -4.42908987e-01 -3.80685463e-03 9.45918508e+01] [ 4.42904619e-01 8.96566575e-01 -1.96866112e-03 2.21929312e+01] [ 4.28503632e-03 7.89463512e-05 9.99990816e-01 2.30515618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:22.21, Z:0.23 [[ 8.97122077e-01 -4.41766329e-01 -3.80648068e-03 9.46161247e+01] [ 4.41761948e-01 8.97130148e-01 -1.96938389e-03 2.22066330e+01] [ 4.28491607e-03 8.52194480e-05 9.99990816e-01 2.28317036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:22.22, Z:0.23 [[ 8.97104783e-01 -4.41801448e-01 -3.80636456e-03 9.46407720e+01] [ 4.41797066e-01 8.97112854e-01 -1.96960830e-03 2.22202869e+01] [ 4.28491438e-03 8.53043322e-05 9.99990816e-01 2.27814309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:22.23, Z:0.23 [[ 8.97009762e-01 -4.41994345e-01 -3.80599657e-03 9.46649536e+01] [ 4.41989961e-01 8.97017833e-01 -1.97031915e-03 2.22346217e+01] [ 4.28491671e-03 8.51832383e-05 9.99990816e-01 2.27780305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:22.25, Z:0.23 [[ 8.96477500e-01 -4.43072917e-01 -3.80562460e-03 9.46877369e+01] [ 4.43068540e-01 8.96485574e-01 -1.97103733e-03 2.22496725e+01] [ 4.28500081e-03 8.08380759e-05 9.99990816e-01 2.29014006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:22.26, Z:0.23 [[ 8.95951372e-01 -4.44135855e-01 -3.80537139e-03 9.47123596e+01] [ 4.44131486e-01 8.95959450e-01 -1.97152606e-03 2.22637738e+01] [ 4.28508388e-03 7.63062269e-05 9.99990816e-01 2.29758587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:22.28, Z:0.23 [[ 8.94340922e-01 -4.47369911e-01 -3.80500506e-03 9.47357864e+01] [ 4.47365568e-01 8.94349014e-01 -1.97223283e-03 2.22774729e+01] [ 4.28532015e-03 6.16202717e-05 9.99990816e-01 2.30316543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:22.29, Z:0.23 [[ 8.93208263e-01 -4.49627092e-01 -3.80484569e-03 9.47604199e+01] [ 4.49622768e-01 8.93216365e-01 -1.97254023e-03 2.22913337e+01] [ 4.28545797e-03 5.11439846e-05 9.99990816e-01 2.31790279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:22.30, Z:0.23 [[ 8.90714622e-01 -4.54547014e-01 -3.80446196e-03 9.47844714e+01] [ 4.54542732e-01 8.90722746e-01 -1.97328007e-03 2.23046094e+01] [ 4.28566937e-03 2.83388786e-05 9.99990816e-01 2.31764345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.81, Y:22.32, Z:0.23 [[ 8.89071941e-01 -4.57751691e-01 -3.80434237e-03 9.48091899e+01] [ 4.57747437e-01 8.89080080e-01 -1.97351060e-03 2.23178150e+01] [ 4.28574283e-03 1.31649335e-05 9.99990816e-01 2.32364167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.83, Y:22.33, Z:0.23 [[ 8.85797282e-01 -4.64056791e-01 -3.80398362e-03 9.48336163e+01] [ 4.64052592e-01 8.85805450e-01 -1.97420185e-03 2.23300706e+01] [ 4.28573120e-03 -1.65058253e-05 9.99990816e-01 2.34279097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:22.34, Z:0.23 [[ 8.84004525e-01 -4.67462866e-01 -3.80382834e-03 9.48587558e+01] [ 4.67458697e-01 8.84012708e-01 -1.97450100e-03 2.23425275e+01] [ 4.28563849e-03 -3.26648217e-05 9.99990816e-01 2.31837143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.88, Y:22.35, Z:0.23 [[ 8.82270226e-01 -4.70727928e-01 -3.80344969e-03 9.48824007e+01] [ 4.70723786e-01 8.82278423e-01 -1.97523011e-03 2.23545808e+01] [ 4.28549757e-03 -4.76875245e-05 9.99990816e-01 2.29920981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:22.37, Z:0.23 [[ 8.78984385e-01 -4.76835386e-01 -3.80328539e-03 9.49085994e+01] [ 4.76831300e-01 8.78992610e-01 -1.97554642e-03 2.23654620e+01] [ 4.28507019e-03 -7.70510570e-05 9.99990816e-01 2.29744646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.93, Y:22.38, Z:0.23 [[ 8.77527576e-01 -4.79511096e-01 -3.80291523e-03 9.49342560e+01] [ 4.79507031e-01 8.77535812e-01 -1.97625872e-03 2.23770617e+01] [ 4.28483229e-03 -8.93030690e-05 9.99990816e-01 2.30632305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:22.39, Z:0.23 [[ 8.75288368e-01 -4.83586408e-01 -3.80254653e-03 9.49597864e+01] [ 4.83582379e-01 8.75296621e-01 -1.97696789e-03 2.23876665e+01] [ 4.28439093e-03 -1.08427502e-04 9.99990816e-01 2.31811238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:22.40, Z:0.23 [[ 8.74483686e-01 -4.85040026e-01 -3.80217847e-03 9.49853611e+01] [ 4.85036008e-01 8.74491944e-01 -1.97767550e-03 2.23995483e+01] [ 4.28422622e-03 -1.14748506e-04 9.99990816e-01 2.32982709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:22.41, Z:0.23 [[ 8.73969869e-01 -4.85965240e-01 -3.80179833e-03 9.50103126e+01] [ 4.85961227e-01 8.73978130e-01 -1.97840600e-03 2.24110527e+01] [ 4.28412514e-03 -1.18459352e-04 9.99990816e-01 2.32491789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.04, Y:22.42, Z:0.23 [[ 8.73430653e-01 -4.86933715e-01 -3.80163381e-03 9.50353213e+01] [ 4.86929710e-01 8.73438917e-01 -1.97872209e-03 2.24204519e+01] [ 4.28400141e-03 -1.22851923e-04 9.99990816e-01 2.32185138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.758623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.06, Y:22.43, Z:0.23 [[ 8.73282447e-01 -4.87199462e-01 -3.80147433e-03 9.50606600e+01] [ 4.87195458e-01 8.73290713e-01 -1.97902841e-03 2.24322451e+01] [ 4.28397381e-03 -1.23810255e-04 9.99990816e-01 2.32332175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.09, Y:22.44, Z:0.23 [[ 8.73569602e-01 -4.86684396e-01 -3.80110773e-03 9.50873295e+01] [ 4.86680384e-01 8.73577864e-01 -1.97973230e-03 2.24424021e+01] [ 4.28406839e-03 -1.20490612e-04 9.99990816e-01 2.31435309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.818623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.11, Y:22.45, Z:0.23 [[ 8.73788987e-01 -4.86290407e-01 -3.80074208e-03 9.51130254e+01] [ 4.86286389e-01 8.73797245e-01 -1.98043403e-03 2.24539897e+01] [ 4.28414403e-03 -1.17767696e-04 9.99990816e-01 2.32160261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:95.14, Y:22.46, Z:0.23 [[ 8.74445048e-01 -4.85109693e-01 -3.80037695e-03 9.51394256e+01] [ 4.85105661e-01 8.74453300e-01 -1.98113446e-03 2.24643552e+01] [ 4.28431969e-03 -1.11191153e-04 9.99990816e-01 2.32920200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:22.48, Z:0.23 [[ 8.74666277e-01 -4.84710702e-01 -3.80001253e-03 9.51645640e+01] [ 4.84706662e-01 8.74674524e-01 -1.98183320e-03 2.24759753e+01] [ 4.28438992e-03 -1.08448726e-04 9.99990816e-01 2.33272498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.19, Y:22.48, Z:0.23 [[ 8.75195915e-01 -4.83753732e-01 -3.79964165e-03 9.51901146e+01] [ 4.83749680e-01 8.75204157e-01 -1.98254401e-03 2.24849478e+01] [ 4.28452523e-03 -1.02961014e-04 9.99990816e-01 2.33039487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.22, Y:22.50, Z:0.23 [[ 8.75476136e-01 -4.83246416e-01 -3.79948035e-03 9.52159426e+01] [ 4.83242358e-01 8.75484375e-01 -1.98285308e-03 2.24961127e+01] [ 4.28459233e-03 -1.00129290e-04 9.99990816e-01 2.33610563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.24, Y:22.51, Z:0.23 [[ 8.75766465e-01 -4.82720069e-01 -3.79911135e-03 9.52413467e+01] [ 4.82716003e-01 8.75774700e-01 -1.98355984e-03 2.25072350e+01] [ 4.28466975e-03 -9.67566550e-05 9.99990816e-01 2.33909869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.27, Y:22.52, Z:0.24 [[ 8.76633926e-01 -4.81142942e-01 -3.79874311e-03 9.52674735e+01] [ 4.81138858e-01 8.76642152e-01 -1.98426482e-03 2.25163027e+01] [ 4.28485334e-03 -8.82490645e-05 9.99990816e-01 2.35134613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.29, Y:22.53, Z:0.24 [[ 8.77106169e-01 -4.80281520e-01 -3.79862878e-03 9.52934084e+01] [ 4.80277428e-01 8.77114391e-01 -1.98448366e-03 2.25276955e+01] [ 4.28494279e-03 -8.37927991e-05 9.99990816e-01 2.35629243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:22.54, Z:0.24 [[ 8.78287745e-01 -4.78117361e-01 -3.79826386e-03 9.53197439e+01] [ 4.78113245e-01 8.78295955e-01 -1.98518185e-03 2.25370887e+01] [ 4.28514969e-03 -7.24393682e-05 9.99990816e-01 2.35276569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:22.55, Z:0.23 [[ 8.78920140e-01 -4.76953837e-01 -3.79789703e-03 9.53447608e+01] [ 4.76949707e-01 8.78928343e-01 -1.98588340e-03 2.25479273e+01] [ 4.28525405e-03 -6.59729617e-05 9.99990816e-01 2.34831098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.118623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.37, Y:22.56, Z:0.23 [[ 8.79551310e-01 -4.75788893e-01 -3.79773739e-03 9.53702669e+01] [ 4.75784752e-01 8.79559506e-01 -1.98618864e-03 2.25584234e+01] [ 4.28534252e-03 -5.99507242e-05 9.99990816e-01 2.33848839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:22.57, Z:0.23 [[ 8.80815739e-01 -4.73443991e-01 -3.79757980e-03 9.53975793e+01] [ 4.73439826e-01 8.80823924e-01 -1.98648990e-03 2.25669041e+01] [ 4.28549085e-03 -4.81939536e-05 9.99990816e-01 2.33252190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:22.58, Z:0.23 [[ 8.81513476e-01 -4.72143593e-01 -3.79721964e-03 9.54224442e+01] [ 4.72139413e-01 8.81521654e-01 -1.98717813e-03 2.25782337e+01] [ 4.28556476e-03 -4.10927526e-05 9.99990816e-01 2.32626195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.45, Y:22.59, Z:0.23 [[ 8.83322802e-01 -4.68749837e-01 -3.79706297e-03 9.54488837e+01] [ 4.68745624e-01 8.83330963e-01 -1.98747744e-03 2.25884198e+01] [ 4.28569302e-03 -2.42725149e-05 9.99990816e-01 2.33823618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.47, Y:22.60, Z:0.23 [[ 8.84376279e-01 -4.66759235e-01 -3.79667043e-03 9.54738175e+01] [ 4.66755000e-01 8.84384428e-01 -1.98822702e-03 2.25998305e+01] [ 4.28573953e-03 -1.37740959e-05 9.99990816e-01 2.33257903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:22.61, Z:0.23 [[ 8.86800901e-01 -4.62136071e-01 -3.79649919e-03 9.54985141e+01] [ 4.62131792e-01 8.86809028e-01 -1.98855396e-03 2.26104280e+01] [ 4.28575227e-03 8.96846577e-06 9.99990816e-01 2.31842514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:22.62, Z:0.23 [[ 8.86717305e-01 -4.62296451e-01 -3.79633263e-03 9.55236562e+01] [ 4.62292173e-01 8.86725432e-01 -1.98887189e-03 2.26238342e+01] [ 4.28575310e-03 8.55226484e-06 9.99990816e-01 2.31964607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.55, Y:22.64, Z:0.24 [[ 8.87706464e-01 -4.60394206e-01 -3.79597279e-03 9.55485057e+01] [ 4.60389907e-01 8.87714580e-01 -1.98955844e-03 2.26363416e+01] [ 4.28572157e-03 1.85163246e-05 9.99990816e-01 2.36052357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:22.65, Z:0.23 [[ 8.89346738e-01 -4.57217644e-01 -3.79558132e-03 9.55731236e+01] [ 4.57213313e-01 8.89354836e-01 -1.99030499e-03 2.26473018e+01] [ 4.28562116e-03 3.46809398e-05 9.99990816e-01 2.31443976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.60, Y:22.66, Z:0.23 [[ 8.89764502e-01 -4.56404126e-01 -3.79541155e-03 9.55973683e+01] [ 4.56399787e-01 8.89772596e-01 -1.99062867e-03 2.26594199e+01] [ 4.28558433e-03 3.89657072e-05 9.99990816e-01 2.30212375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.62, Y:22.67, Z:0.23 [[ 8.89979230e-01 -4.55985270e-01 -3.79525097e-03 9.56227409e+01] [ 4.55980925e-01 8.89987321e-01 -1.99093479e-03 2.26718238e+01] [ 4.28556218e-03 4.13285628e-05 9.99990816e-01 2.31159883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:22.68, Z:0.23 [[ 8.89648119e-01 -4.56630950e-01 -3.79486722e-03 9.56477936e+01] [ 4.56626608e-01 8.89656211e-01 -1.99166597e-03 2.26844839e+01] [ 4.28558352e-03 3.90445337e-05 9.99990816e-01 2.31596644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.478623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.67, Y:22.70, Z:0.23 [[ 8.89188003e-01 -4.57526280e-01 -3.79447869e-03 9.56724621e+01] [ 4.57521943e-01 8.89196099e-01 -1.99240592e-03 2.26966204e+01] [ 4.28561371e-03 3.55661788e-05 9.99990816e-01 2.30680677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.70, Y:22.71, Z:0.23 [[ 8.87975619e-01 -4.59874877e-01 -3.79430948e-03 9.56983622e+01] [ 4.59870560e-01 8.87983726e-01 -1.99272810e-03 2.27081115e+01] [ 4.28569066e-03 2.46027456e-05 9.99990816e-01 2.30427416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.538623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:95.72, Y:22.72, Z:0.24 [[ 8.87278414e-01 -4.61218628e-01 -3.79393375e-03 9.57227185e+01] [ 4.61214320e-01 8.87286525e-01 -1.99344319e-03 2.27209112e+01] [ 4.28571943e-03 1.89225386e-05 9.99990816e-01 2.36977646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.75, Y:22.73, Z:0.23 [[ 8.85880360e-01 -4.63898261e-01 -3.79354710e-03 9.57485136e+01] [ 4.63893975e-01 8.85888482e-01 -1.99417873e-03 2.27317051e+01] [ 4.28575573e-03 6.80012756e-06 9.99990816e-01 2.34059155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.598623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.77, Y:22.74, Z:0.23 [[ 8.85132360e-01 -4.65323881e-01 -3.79342680e-03 9.57729897e+01] [ 4.65319607e-01 8.85140489e-01 -1.99440754e-03 2.27426254e+01] [ 4.28576111e-03 1.58790054e-07 9.99990816e-01 2.31483352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:95.80, Y:22.76, Z:0.24 [[ 8.84102821e-01 -4.67277020e-01 -3.79317100e-03 9.57979247e+01] [ 4.67272762e-01 8.84110958e-01 -1.99489392e-03 2.27550987e+01] [ 4.28575214e-03 -8.75414499e-06 9.99990816e-01 2.36964638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.83, Y:22.76, Z:0.23 [[ 8.82095129e-01 -4.71056045e-01 -3.79279242e-03 9.58258463e+01] [ 4.71051818e-01 8.82103283e-01 -1.99561345e-03 2.27646957e+01] [ 4.28568042e-03 -2.62808616e-05 9.99990816e-01 2.33784455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.85, Y:22.77, Z:0.23 [[ 8.79999376e-01 -4.74959700e-01 -3.79245330e-03 9.58512186e+01] [ 4.74955507e-01 8.80007546e-01 -1.99625770e-03 2.27747575e+01] [ 4.28552948e-03 -4.45410444e-05 9.99990816e-01 2.34150606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.88, Y:22.79, Z:0.23 [[ 8.79017687e-01 -4.76774081e-01 -3.79228501e-03 9.58757730e+01] [ 4.76769904e-01 8.79025866e-01 -1.99657734e-03 2.27860639e+01] [ 4.28543294e-03 -5.30205587e-05 9.99990816e-01 2.34143987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.90, Y:22.80, Z:0.23 [[ 8.78252996e-01 -4.78181237e-01 -3.79211822e-03 9.59012873e+01] [ 4.78177071e-01 8.78261181e-01 -1.99689408e-03 2.27968911e+01] [ 4.28534751e-03 -5.95257737e-05 9.99990816e-01 2.34204898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:95.93, Y:22.81, Z:0.23 [[ 8.77516946e-01 -4.79530637e-01 -3.79173863e-03 9.59270813e+01] [ 4.79526480e-01 8.77525136e-01 -1.99761459e-03 2.28079441e+01] [ 4.28526335e-03 -6.52984244e-05 9.99990816e-01 2.34947520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.95, Y:22.82, Z:0.23 [[ 8.76993224e-01 -4.80487785e-01 -3.79136177e-03 9.59537475e+01] [ 4.80483634e-01 8.77001416e-01 -1.99832960e-03 2.28171956e+01] [ 4.28520260e-03 -6.91657611e-05 9.99990816e-01 2.34384906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.838623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:95.98, Y:22.83, Z:0.23 [[ 8.77108065e-01 -4.80278119e-01 -3.79098526e-03 9.59790815e+01] [ 4.80273963e-01 8.77116255e-01 -1.99904361e-03 2.28267408e+01] [ 4.28523170e-03 -6.73342434e-05 9.99990816e-01 2.33496075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.00, Y:22.84, Z:0.23 [[ 8.77224389e-01 -4.80065623e-01 -3.79072762e-03 9.60046477e+01] [ 4.80061463e-01 8.77232577e-01 -1.99953205e-03 2.28387430e+01] [ 4.28525635e-03 -6.57439657e-05 9.99990816e-01 2.33881679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.898623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.03, Y:22.85, Z:0.23 [[ 8.77463376e-01 -4.79628665e-01 -3.79035557e-03 9.60294437e+01] [ 4.79624498e-01 8.77471561e-01 -2.00023706e-03 2.28505145e+01] [ 4.28530025e-03 -6.28126213e-05 9.99990816e-01 2.33301834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.06, Y:22.86, Z:0.23 [[ 8.78014591e-01 -4.78618860e-01 -3.79010190e-03 9.60562748e+01] [ 4.78614681e-01 8.78022770e-01 -2.00071760e-03 2.28601463e+01] [ 4.28537695e-03 -5.73391674e-05 9.99990816e-01 2.33433906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.958623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.08, Y:22.87, Z:0.23 [[ 8.78367593e-01 -4.77970721e-01 -3.78973206e-03 9.60810185e+01] [ 4.77966534e-01 8.78375767e-01 -2.00141792e-03 2.28705956e+01] [ 4.28542796e-03 -5.33844562e-05 9.99990816e-01 2.33824191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.11, Y:22.88, Z:0.23 [[ 8.79197880e-01 -4.76441735e-01 -3.78957090e-03 9.61064393e+01] [ 4.76437532e-01 8.79206046e-01 -2.00172302e-03 2.28806950e+01] [ 4.28551803e-03 -4.55831753e-05 9.99990816e-01 2.33778243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.13, Y:22.89, Z:0.23 [[ 8.79606514e-01 -4.75686894e-01 -3.78941074e-03 9.61321053e+01] [ 4.75682683e-01 8.79614676e-01 -2.00202615e-03 2.28926009e+01] [ 4.28555890e-03 -4.15618207e-05 9.99990816e-01 2.33678095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.16, Y:22.90, Z:0.23 [[ 8.80034376e-01 -4.74894872e-01 -3.78904601e-03 9.61577024e+01] [ 4.74890651e-01 8.80042532e-01 -2.00271621e-03 2.29037795e+01] [ 4.28560131e-03 -3.69234105e-05 9.99990816e-01 2.32975789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:96.18, Y:22.91, Z:0.23 [[ 8.81342972e-01 -4.72461862e-01 -3.78868121e-03 9.61833650e+01] [ 4.72457615e-01 8.81351115e-01 -2.00340610e-03 2.29132627e+01] [ 4.28569138e-03 -2.43034016e-05 9.99990816e-01 2.32373939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:96.21, Y:22.92, Z:0.23 [[ 8.82174273e-01 -4.70907846e-01 -3.78852802e-03 9.62076341e+01] [ 4.70903584e-01 8.82182407e-01 -2.00369574e-03 2.29248234e+01] [ 4.28572881e-03 -1.64225853e-05 9.99990816e-01 2.32366019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.23, Y:22.94, Z:0.23 [[ 8.84150710e-01 -4.67186441e-01 -3.78836986e-03 9.62341963e+01] [ 4.67182143e-01 8.84158826e-01 -2.00399472e-03 2.29350361e+01] [ 4.28575981e-03 1.97460467e-06 9.99990816e-01 2.32205383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.26, Y:22.95, Z:0.23 [[ 8.85130680e-01 -4.65327121e-01 -3.78801057e-03 9.62595097e+01] [ 4.65322803e-01 8.85138786e-01 -2.00467364e-03 2.29464480e+01] [ 4.28574409e-03 1.17504494e-05 9.99990816e-01 2.33174672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.28, Y:22.96, Z:0.23 [[ 8.86240210e-01 -4.63210475e-01 -3.78764844e-03 9.62836367e+01] [ 4.63206135e-01 8.86248304e-01 -2.00535761e-03 2.29581783e+01] [ 4.28569966e-03 2.27665558e-05 9.99990816e-01 2.32843523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.31, Y:22.97, Z:0.23 [[ 8.88062559e-01 -4.59707022e-01 -3.78749178e-03 9.63088410e+01] [ 4.59702648e-01 8.88070635e-01 -2.00565344e-03 2.29710312e+01] [ 4.28557321e-03 4.00257266e-05 9.99990816e-01 2.31299442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.258623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.33, Y:22.98, Z:0.23 [[ 8.88710745e-01 -4.58452691e-01 -3.78713525e-03 9.63343802e+01] [ 4.58448303e-01 8.88718813e-01 -2.00632645e-03 2.29835594e+01] [ 4.28550410e-03 4.68381423e-05 9.99990816e-01 2.33537366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.36, Y:22.99, Z:0.23 [[ 8.89587317e-01 -4.56749457e-01 -3.78674465e-03 9.63587344e+01] [ 4.56745051e-01 8.89595374e-01 -2.00706339e-03 2.29942861e+01] [ 4.28539564e-03 5.58812622e-05 9.99990816e-01 2.32964449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.318623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:96.38, Y:23.01, Z:0.23 [[ 8.89796053e-01 -4.56342685e-01 -3.78657487e-03 9.63841246e+01] [ 4.56338274e-01 8.89804108e-01 -2.00738364e-03 2.30067750e+01] [ 4.28536472e-03 5.82030012e-05 9.99990816e-01 2.34082441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.41, Y:23.02, Z:0.23 [[ 8.89856629e-01 -4.56224555e-01 -3.78618217e-03 9.64084960e+01] [ 4.56220139e-01 8.89864682e-01 -2.00812405e-03 2.30190172e+01] [ 4.28534530e-03 5.96099369e-05 9.99990816e-01 2.33659890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.43, Y:23.03, Z:0.23 [[ 8.89597434e-01 -4.56729757e-01 -3.78601163e-03 9.64338678e+01] [ 4.56725345e-01 8.89605489e-01 -2.00844552e-03 2.30307171e+01] [ 4.28537357e-03 5.75405165e-05 9.99990816e-01 2.33227206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.46, Y:23.04, Z:0.24 [[ 8.89222632e-01 -4.57459044e-01 -3.78589510e-03 9.64591673e+01] [ 4.57454638e-01 8.89230690e-01 -2.00866517e-03 2.30436179e+01] [ 4.28541616e-03 5.42752553e-05 9.99990816e-01 2.35556510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.48, Y:23.06, Z:0.24 [[ 8.88205518e-01 -4.59430764e-01 -3.78552574e-03 9.64848860e+01] [ 4.59426373e-01 8.88213584e-01 -2.00936102e-03 2.30554333e+01] [ 4.28551765e-03 4.55551864e-05 9.99990816e-01 2.37320929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.51, Y:23.07, Z:0.24 [[ 8.87643986e-01 -4.60514741e-01 -3.78514607e-03 9.65101665e+01] [ 4.60510356e-01 8.87652055e-01 -2.01007597e-03 2.30672088e+01] [ 4.28556230e-03 4.11328867e-05 9.99990816e-01 2.37495641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:96.53, Y:23.08, Z:0.24 [[ 8.87107386e-01 -4.61547572e-01 -3.78476645e-03 9.65339741e+01] [ 4.61543194e-01 8.87115459e-01 -2.01079050e-03 2.30791355e+01] [ 4.28560030e-03 3.69539127e-05 9.99990816e-01 2.38490500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52862385300001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:96.56, Y:23.09, Z:0.24 [[ 8.86036010e-01 -4.63600978e-01 -3.78460154e-03 9.65597783e+01] [ 4.63596617e-01 8.86044092e-01 -2.01110084e-03 2.30899031e+01] [ 4.28567215e-03 2.73792994e-05 9.99990816e-01 2.38621924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:96.59, Y:23.10, Z:0.24 [[ 8.85152517e-01 -4.65285613e-01 -3.78421123e-03 9.65852249e+01] [ 4.65281264e-01 8.85160606e-01 -2.01183500e-03 2.31002119e+01] [ 4.28571259e-03 2.00582291e-05 9.99990816e-01 2.37523630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:96.61, Y:23.11, Z:0.24 [[ 8.84776021e-01 -4.66001153e-01 -3.78404193e-03 9.66103708e+01] [ 4.65996809e-01 8.84784112e-01 -2.01215338e-03 2.31126325e+01] [ 4.28572598e-03 1.69536001e-05 9.99990816e-01 2.38095177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.618623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:96.63, Y:23.12, Z:0.24 [[ 8.84495654e-01 -4.66533088e-01 -3.78365296e-03 9.66347709e+01] [ 4.66528746e-01 8.84503747e-01 -2.01288454e-03 2.31247126e+01] [ 4.28573246e-03 1.52047616e-05 9.99990816e-01 2.37406292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:96.66, Y:23.14, Z:0.24 [[ 8.84186847e-01 -4.67118084e-01 -3.78348420e-03 9.66603427e+01] [ 4.67113746e-01 8.84194942e-01 -2.01320169e-03 2.31366390e+01] [ 4.28574051e-03 1.27289773e-05 9.99990816e-01 2.37681682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.678623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.68, Y:23.15, Z:0.24 [[ 8.84088036e-01 -4.67305074e-01 -3.78309801e-03 9.66845025e+01] [ 4.67300735e-01 8.84096130e-01 -2.01392714e-03 2.31488554e+01] [ 4.28574068e-03 1.26444153e-05 9.99990816e-01 2.35812960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:96.71, Y:23.16, Z:0.23 [[ 8.84142105e-01 -4.67202770e-01 -3.78293029e-03 9.67095405e+01] [ 4.67198428e-01 8.84150197e-01 -2.01424214e-03 2.31600669e+01] [ 4.28573807e-03 1.34972007e-05 9.99990816e-01 2.33796510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.738623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:96.73, Y:23.17, Z:0.24 [[ 8.84227781e-01 -4.67040599e-01 -3.78277639e-03 9.67340998e+01] [ 4.67036254e-01 8.84235873e-01 -2.01453112e-03 2.31728044e+01] [ 4.28573440e-03 1.46106714e-05 9.99990816e-01 2.38397231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:96.76, Y:23.19, Z:0.24 [[ 8.84508697e-01 -4.66508370e-01 -3.78237115e-03 9.67578181e+01] [ 4.66504017e-01 8.84516784e-01 -2.01529170e-03 2.31855406e+01] [ 4.28572120e-03 1.80516986e-05 9.99990816e-01 2.38201539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.78, Y:23.20, Z:0.24 [[ 8.85360178e-01 -4.64890364e-01 -3.78219560e-03 9.67812715e+01] [ 4.64885995e-01 8.85368256e-01 -2.01562110e-03 2.31982597e+01] [ 4.28567875e-03 2.62608844e-05 9.99990816e-01 2.37615447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:23.21, Z:0.24 [[ 8.85914502e-01 -4.63833152e-01 -3.78193218e-03 9.68057657e+01] [ 4.63828771e-01 8.85922574e-01 -2.01611523e-03 2.32114928e+01] [ 4.28564017e-03 3.19367665e-05 9.99990816e-01 2.37831647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.83, Y:23.23, Z:0.24 [[ 8.87298637e-01 -4.61179823e-01 -3.78155328e-03 9.68306673e+01] [ 4.61175415e-01 8.87306694e-01 -2.01682567e-03 2.32251008e+01] [ 4.28551685e-03 4.55672573e-05 9.99990816e-01 2.38541953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88862385300001 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:96.85, Y:23.24, Z:0.24 [[ 8.88069838e-01 -4.59693012e-01 -3.78116462e-03 9.68545136e+01] [ 4.59688588e-01 8.88077886e-01 -2.01755408e-03 2.32379987e+01] [ 4.28542419e-03 5.35707029e-05 9.99990816e-01 2.38875185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:96.88, Y:23.25, Z:0.24 [[ 8.89673819e-01 -4.56580990e-01 -3.78089919e-03 9.68783759e+01] [ 4.56576535e-01 8.89681851e-01 -2.01805137e-03 2.32525367e+01] [ 4.28520128e-03 6.91376167e-05 9.99990816e-01 2.38244929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94862385300002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:96.90, Y:23.27, Z:0.24 [[ 8.90391664e-01 -4.55179518e-01 -3.78051586e-03 9.69017134e+01] [ 4.55175047e-01 8.90399686e-01 -2.01876921e-03 2.32671008e+01] [ 4.28507254e-03 7.66987922e-05 9.99990816e-01 2.36632732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.978623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:96.92, Y:23.28, Z:0.24 [[ 8.91115129e-01 -4.53761542e-01 -3.78034960e-03 9.69242187e+01] [ 4.53757057e-01 8.91123143e-01 -2.01908051e-03 2.32845847e+01] [ 4.28493810e-03 8.38728824e-05 9.99990816e-01 2.42527615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.95, Y:23.30, Z:0.24 [[ 8.91185812e-01 -4.53622706e-01 -3.77997163e-03 9.69489670e+01] [ 4.53618218e-01 8.91193825e-01 -2.01978788e-03 2.32979685e+01] [ 4.28490902e-03 8.53423094e-05 9.99990816e-01 2.36494359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.038623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:96.97, Y:23.31, Z:0.24 [[ 8.90938996e-01 -4.54107276e-01 -3.77985515e-03 9.69734383e+01] [ 4.54102791e-01 8.90947010e-01 -2.02000583e-03 2.33120566e+01] [ 4.28494999e-03 8.32591932e-05 9.99990816e-01 2.36651659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:97.00, Y:23.33, Z:0.24 [[ 8.89967895e-01 -4.56007524e-01 -3.77948565e-03 9.69979093e+01] [ 4.56003053e-01 8.89975917e-01 -2.02069693e-03 2.33259619e+01] [ 4.28510421e-03 7.48984018e-05 9.99990816e-01 2.36362261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.098623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:97.02, Y:23.34, Z:0.24 [[ 8.89268029e-01 -4.57370847e-01 -3.77911538e-03 9.70218938e+01] [ 4.57366385e-01 8.89276056e-01 -2.02138918e-03 2.33398523e+01] [ 4.28520130e-03 6.91164275e-05 9.99990816e-01 2.37312477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:97.05, Y:23.36, Z:0.24 [[ 8.87579287e-01 -4.60639479e-01 -3.77873472e-03 9.70452673e+01] [ 4.60635044e-01 8.87587329e-01 -2.02210053e-03 2.33552786e+01] [ 4.28541639e-03 5.41569116e-05 9.99990816e-01 2.37756509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.07, Y:23.37, Z:0.24 [[ 8.86603549e-01 -4.62514724e-01 -3.77834977e-03 9.70692889e+01] [ 4.62510303e-01 8.86611599e-01 -2.02281956e-03 2.33693676e+01] [ 4.28551256e-03 4.59133032e-05 9.99990816e-01 2.38224347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:97.09, Y:23.38, Z:0.24 [[ 8.85013055e-01 -4.65550877e-01 -3.77796309e-03 9.70939854e+01] [ 4.65546480e-01 8.85021118e-01 -2.02354150e-03 2.33846442e+01] [ 4.28563864e-03 3.20432311e-05 9.99990816e-01 2.40599834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:97.12, Y:23.40, Z:0.24 [[ 8.84922184e-01 -4.65723585e-01 -3.77761837e-03 9.71190287e+01] [ 4.65719187e-01 8.84930247e-01 -2.02418483e-03 2.33982663e+01] [ 4.28563937e-03 3.19367036e-05 9.99990816e-01 2.40721918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24862385300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:97.14, Y:23.41, Z:0.24 [[ 8.84231787e-01 -4.67033060e-01 -3.77722319e-03 9.71427166e+01] [ 4.67028671e-01 8.84239854e-01 -2.02492198e-03 2.34119303e+01] [ 4.28567679e-03 2.64288514e-05 9.99990816e-01 2.39816836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:97.17, Y:23.43, Z:0.24 [[ 8.83423525e-01 -4.68560145e-01 -3.77705148e-03 9.71668661e+01] [ 4.68555769e-01 8.83431599e-01 -2.02524222e-03 2.34253372e+01] [ 4.28571442e-03 1.93873581e-05 9.99990816e-01 2.40718082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:97.19, Y:23.44, Z:0.24 [[ 8.81844566e-01 -4.71525077e-01 -3.77667846e-03 9.71903898e+01] [ 4.71520725e-01 8.81852653e-01 -2.02593759e-03 2.34389602e+01] [ 4.28575430e-03 5.77988375e-06 9.99990816e-01 2.39116546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.338623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:97.21, Y:23.45, Z:0.24 [[ 8.81008759e-01 -4.73084880e-01 -3.77650457e-03 9.72148391e+01] [ 4.73080541e-01 8.81016853e-01 -2.02626168e-03 2.34528915e+01] [ 4.28575794e-03 -1.43654160e-06 9.99990816e-01 2.40639633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:97.24, Y:23.47, Z:0.24 [[ 8.79440350e-01 -4.75994130e-01 -3.77611330e-03 9.72394226e+01] [ 4.75989814e-01 8.79448457e-01 -2.02699058e-03 2.34673323e+01] [ 4.28573263e-03 -1.47741626e-05 9.99990816e-01 2.39865922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.398623853 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:97.26, Y:23.48, Z:0.25 [[ 8.78569002e-01 -4.77600515e-01 -3.77571978e-03 9.72633817e+01] [ 4.77596211e-01 8.78577115e-01 -2.02772334e-03 2.34817731e+01] [ 4.28570270e-03 -2.17745875e-05 9.99990816e-01 2.46277396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:97.29, Y:23.49, Z:0.24 [[ 8.77847611e-01 -4.78925171e-01 -3.77532384e-03 9.72873924e+01] [ 4.78920876e-01 8.77855728e-01 -2.02846025e-03 2.34936588e+01] [ 4.28567033e-03 -2.74024234e-05 9.99990816e-01 2.40222929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.458623853 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:97.31, Y:23.51, Z:0.25 [[ 8.76122190e-01 -4.82074328e-01 -3.77515142e-03 9.73110063e+01] [ 4.82070060e-01 8.76130322e-01 -2.02878110e-03 2.35078317e+01] [ 4.28554791e-03 -4.24273323e-05 9.99990816e-01 2.46632083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:97.34, Y:23.52, Z:0.24 [[ 8.75475622e-01 -4.83247542e-01 -3.77475110e-03 9.73359663e+01] [ 4.83243282e-01 8.75483758e-01 -2.02952565e-03 2.35194926e+01] [ 4.28549656e-03 -4.73228795e-05 9.99990816e-01 2.40778759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:97.36, Y:23.53, Z:0.24 [[ 8.74561063e-01 -4.84900712e-01 -3.77457872e-03 9.73605476e+01] [ 4.84896466e-01 8.74569206e-01 -2.02984620e-03 2.35311823e+01] [ 4.28540418e-03 -5.50554304e-05 9.99990816e-01 2.41083745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:97.39, Y:23.54, Z:0.24 [[ 8.74323745e-01 -4.85328489e-01 -3.77440526e-03 9.73854727e+01] [ 4.85324246e-01 8.74331890e-01 -2.03016870e-03 2.35435806e+01] [ 4.28538159e-03 -5.67856876e-05 9.99990816e-01 2.41666027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:97.41, Y:23.55, Z:0.24 [[ 8.74472116e-01 -4.85061104e-01 -3.77401431e-03 9.74099149e+01] [ 4.85056856e-01 8.74480258e-01 -2.03089519e-03 2.35549010e+01] [ 4.28540927e-03 -5.46503023e-05 9.99990816e-01 2.41308145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:97.43, Y:23.57, Z:0.24 [[ 8.74671651e-01 -4.84701208e-01 -3.77384445e-03 9.74340438e+01] [ 4.84696955e-01 8.74679791e-01 -2.03121077e-03 2.35677998e+01] [ 4.28543579e-03 -5.25284335e-05 9.99990816e-01 2.41320359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:97.46, Y:23.58, Z:0.24 [[ 8.75108999e-01 -4.83911148e-01 -3.77367636e-03 9.74585240e+01] [ 4.83906886e-01 8.75117134e-01 -2.03152301e-03 2.35804366e+01] [ 4.28548548e-03 -4.83039047e-05 9.99990816e-01 2.41720976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:97.48, Y:23.59, Z:0.24 [[ 8.75246055e-01 -4.83663215e-01 -3.77329470e-03 9.74832920e+01] [ 4.83658948e-01 8.75254187e-01 -2.03223166e-03 2.35931178e+01] [ 4.28550768e-03 -4.62850000e-05 9.99990816e-01 2.42065973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69862385300002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:97.51, Y:23.60, Z:0.24 [[ 8.75276561e-01 -4.83608009e-01 -3.77290957e-03 9.75079986e+01] [ 4.83603738e-01 8.75284692e-01 -2.03294641e-03 2.36033486e+01] [ 4.28551916e-03 -4.52028280e-05 9.99990816e-01 2.41359955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:97.53, Y:23.62, Z:0.24 [[ 8.75094899e-01 -4.83936654e-01 -3.77264713e-03 9.75331540e+01] [ 4.83932384e-01 8.75103030e-01 -2.03343331e-03 2.36150755e+01] [ 4.28550785e-03 -4.62590019e-05 9.99990816e-01 2.42781168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.758623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:97.56, Y:23.63, Z:0.24 [[ 8.74921282e-01 -4.84250473e-01 -3.77224307e-03 9.75576893e+01] [ 4.84246202e-01 8.74929413e-01 -2.03418263e-03 2.36268818e+01] [ 4.28550031e-03 -4.69447055e-05 9.99990816e-01 2.42491403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:97.58, Y:23.64, Z:0.24 [[ 8.74622004e-01 -4.84790802e-01 -3.77206793e-03 9.75840354e+01] [ 4.84786535e-01 8.74630137e-01 -2.03450734e-03 2.36380254e+01] [ 4.28547473e-03 -4.92228501e-05 9.99990816e-01 2.43131761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.818623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:97.61, Y:23.65, Z:0.24 [[ 8.74550368e-01 -4.84920023e-01 -3.77166813e-03 9.76095464e+01] [ 4.84915755e-01 8.74558499e-01 -2.03524824e-03 2.36496548e+01] [ 4.28547704e-03 -4.90141967e-05 9.99990816e-01 2.43205250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848623853 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:97.64, Y:23.66, Z:0.25 [[ 8.74918960e-01 -4.84254676e-01 -3.77126863e-03 9.76357743e+01] [ 4.84250398e-01 8.74927087e-01 -2.03598824e-03 2.36596845e+01] [ 4.28552190e-03 -4.49136182e-05 9.99990816e-01 2.45242344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87862385300001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:97.66, Y:23.67, Z:0.24 [[ 8.75193606e-01 -4.83758134e-01 -3.77086860e-03 9.76606214e+01] [ 4.83753848e-01 8.75201729e-01 -2.03672885e-03 2.36703663e+01] [ 4.28555487e-03 -4.16401261e-05 9.99990816e-01 2.42050103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:97.69, Y:23.68, Z:0.24 [[ 8.76119012e-01 -4.82080138e-01 -3.77059590e-03 9.76866866e+01] [ 4.82075834e-01 8.76127125e-01 -2.03723359e-03 2.36799729e+01] [ 4.28563119e-03 -3.28540858e-05 9.99990816e-01 2.39234272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93862385300001 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:97.71, Y:23.69, Z:0.25 [[ 8.76692265e-01 -4.81036856e-01 -3.77043253e-03 9.77117009e+01] [ 4.81032542e-01 8.76700372e-01 -2.03753590e-03 2.36931567e+01] [ 4.28566947e-03 -2.74087839e-05 9.99990816e-01 2.46631829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96862385300001 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:97.74, Y:23.70, Z:0.25 [[ 8.77985581e-01 -4.78672232e-01 -3.77002695e-03 9.77360343e+01] [ 4.78667893e-01 8.77993675e-01 -2.03828607e-03 2.37041409e+01] [ 4.28573076e-03 -1.50050790e-05 9.99990816e-01 2.46387889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99862385300001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:97.76, Y:23.71, Z:0.24 [[ 8.78773436e-01 -4.77224306e-01 -3.76975100e-03 9.77615646e+01] [ 4.77219951e-01 8.78781521e-01 -2.03879629e-03 2.37147857e+01] [ 4.28575067e-03 -7.36036462e-06 9.99990816e-01 2.40946338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02862385300001 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:97.79, Y:23.72, Z:0.24 [[ 8.80200125e-01 -4.74587748e-01 -3.76963133e-03 9.77880295e+01] [ 4.74583368e-01 8.80208197e-01 -2.03901754e-03 2.37245916e+01] [ 4.28575314e-03 5.73916242e-06 9.99990816e-01 2.42025567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05862385300001 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:97.81, Y:23.74, Z:0.24 [[ 8.81019298e-01 -4.73065313e-01 -3.76924763e-03 9.78124842e+01] [ 4.73060916e-01 8.81027360e-01 -2.03972658e-03 2.37357690e+01] [ 4.28573418e-03 1.39547456e-05 9.99990816e-01 2.41571020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:97.84, Y:23.75, Z:0.24 [[ 8.82616614e-01 -4.70078405e-01 -3.76908164e-03 9.78382548e+01] [ 4.70073979e-01 8.82624661e-01 -2.04003326e-03 2.37475917e+01] [ 4.28565999e-03 2.88200505e-05 9.99990816e-01 2.41284947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.118623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:97.86, Y:23.76, Z:0.24 [[ 8.83442240e-01 -4.68524926e-01 -3.76870077e-03 9.78634021e+01] [ 4.68520483e-01 8.83450277e-01 -2.04073663e-03 2.37607177e+01] [ 4.28559572e-03 3.71594415e-05 9.99990816e-01 2.41902398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148623853 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:97.89, Y:23.77, Z:0.24 [[ 8.85264136e-01 -4.65073338e-01 -3.76832112e-03 9.78885277e+01] [ 4.65068861e-01 8.85272154e-01 -2.04143743e-03 2.37735100e+01] [ 4.28540787e-03 5.46825384e-05 9.99990816e-01 2.42955592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.178623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:97.91, Y:23.79, Z:0.24 [[ 8.86082926e-01 -4.63511436e-01 -3.76793529e-03 9.79129422e+01] [ 4.63506942e-01 8.86090935e-01 -2.04214931e-03 2.37871122e+01] [ 4.28529287e-03 6.30494711e-05 9.99990816e-01 2.43179397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:97.94, Y:23.80, Z:0.24 [[ 8.86938877e-01 -4.61871448e-01 -3.76754984e-03 9.79374785e+01] [ 4.61866936e-01 8.86946876e-01 -2.04286018e-03 2.38006950e+01] [ 4.28515535e-03 7.17854166e-05 9.99990816e-01 2.43772529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.238623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:97.96, Y:23.81, Z:0.24 [[ 8.88541202e-01 -4.58781365e-01 -3.76716639e-03 9.79605811e+01] [ 4.58776822e-01 8.88549184e-01 -2.04356705e-03 2.38142398e+01] [ 4.28486310e-03 8.75048964e-05 9.99990816e-01 2.44255550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:97.98, Y:23.83, Z:0.24 [[ 8.89243230e-01 -4.57419161e-01 -3.76699969e-03 9.79849642e+01] [ 4.57414604e-01 8.89251203e-01 -2.04387429e-03 2.38283946e+01] [ 4.28471627e-03 9.44207084e-05 9.99990816e-01 2.43733969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.01, Y:23.84, Z:0.24 [[ 8.90475317e-01 -4.55015958e-01 -3.76662253e-03 9.80085818e+01] [ 4.55011377e-01 8.90483277e-01 -2.04456911e-03 2.38425581e+01] [ 4.28442595e-03 1.06782226e-04 9.99990816e-01 2.44209422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32862385300001 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:98.03, Y:23.86, Z:0.24 [[ 8.90875085e-01 -4.54232757e-01 -3.76623841e-03 9.80320330e+01] [ 4.54228166e-01 8.90883039e-01 -2.04527643e-03 2.38558653e+01] [ 4.28430948e-03 1.11354250e-04 9.99990816e-01 2.44130953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35862385300001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:98.05, Y:23.87, Z:0.24 [[ 8.91525606e-01 -4.52954645e-01 -3.76607157e-03 9.80545905e+01] [ 4.52950041e-01 8.91533553e-01 -2.04558361e-03 2.38711317e+01] [ 4.28413576e-03 1.17847892e-04 9.99990816e-01 2.42804019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38862385300001 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:98.08, Y:23.89, Z:0.24 [[ 8.91635980e-01 -4.52737337e-01 -3.76590762e-03 9.80774540e+01] [ 4.52732731e-01 8.91643925e-01 -2.04588539e-03 2.38856561e+01] [ 4.28409736e-03 1.19235387e-04 9.99990816e-01 2.41834066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41862385300001 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:98.10, Y:23.90, Z:0.24 [[ 8.91566702e-01 -4.52873752e-01 -3.76574716e-03 9.81015699e+01] [ 4.52869145e-01 8.91574647e-01 -2.04618071e-03 2.39002817e+01] [ 4.28410622e-03 1.18915892e-04 9.99990816e-01 2.42035460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44862385300002 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:98.13, Y:23.92, Z:0.24 [[ 8.90949846e-01 -4.54086109e-01 -3.76538200e-03 9.81251244e+01] [ 4.54081510e-01 8.90957795e-01 -2.04685244e-03 2.39160149e+01] [ 4.28424371e-03 1.13852517e-04 9.99990816e-01 2.43039811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.478623853 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:98.15, Y:23.93, Z:0.24 [[ 8.90359334e-01 -4.55242881e-01 -3.76501359e-03 9.81478662e+01] [ 4.55238290e-01 8.90367288e-01 -2.04752988e-03 2.39304256e+01] [ 4.28436834e-03 1.09058987e-04 9.99990816e-01 2.43214963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508623853 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:98.17, Y:23.95, Z:0.24 [[ 8.88769448e-01 -4.58339060e-01 -3.76485350e-03 9.81703803e+01] [ 4.58334495e-01 8.88777417e-01 -2.04782421e-03 2.39452271e+01] [ 4.28471459e-03 9.44813652e-05 9.99990816e-01 2.42676749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.538623853 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:98.19, Y:23.96, Z:0.24 [[ 8.87838220e-01 -4.60140329e-01 -3.76469532e-03 9.81940389e+01] [ 4.60135779e-01 8.87846198e-01 -2.04811496e-03 2.39586100e+01] [ 4.28489071e-03 8.61237335e-05 9.99990816e-01 2.42355495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:98.22, Y:23.97, Z:0.24 [[ 8.85420016e-01 -4.64776532e-01 -3.76444786e-03 9.82180739e+01] [ 4.64772022e-01 8.85428016e-01 -2.04856968e-03 2.39735576e+01] [ 4.28527471e-03 6.42345543e-05 9.99990816e-01 2.42822642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.598623853 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:98.24, Y:23.99, Z:0.25 [[ 8.84137985e-01 -4.67210719e-01 -3.76406951e-03 9.82422879e+01] [ 4.67206228e-01 8.84145996e-01 -2.04926464e-03 2.39886944e+01] [ 4.28542539e-03 5.32359935e-05 9.99990816e-01 2.45901747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62862385300001 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:98.27, Y:24.00, Z:0.24 [[ 8.82839010e-01 -4.69660641e-01 -3.76371244e-03 9.82670593e+01] [ 4.69656169e-01 8.82847031e-01 -2.04992023e-03 2.40015325e+01] [ 4.28554920e-03 4.20987767e-05 9.99990816e-01 2.40813470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:98.29, Y:24.02, Z:0.24 [[ 8.80442934e-01 -4.74137193e-01 -3.76333130e-03 9.82918982e+01] [ 4.74132759e-01 8.80450976e-01 -2.05061971e-03 2.40160258e+01] [ 4.28570379e-03 2.11349765e-05 9.99990816e-01 2.39690674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68862385300001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:98.32, Y:24.03, Z:0.24 [[ 8.78444173e-01 -4.77830174e-01 -3.76299389e-03 9.83155940e+01] [ 4.77825771e-01 8.78452233e-01 -2.05123868e-03 2.40302835e+01] [ 4.28575412e-03 3.84321177e-06 9.99990816e-01 2.39791466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71862385300001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:98.34, Y:24.04, Z:0.24 [[ 8.77435752e-01 -4.79679418e-01 -3.76260783e-03 9.83396034e+01] [ 4.79675029e-01 8.77443819e-01 -2.05194659e-03 2.40439775e+01] [ 4.28575353e-03 -4.37771910e-06 9.99990816e-01 2.40077906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74862385300001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:98.36, Y:24.06, Z:0.24 [[ 8.75296172e-01 -4.83572598e-01 -3.76222170e-03 9.83640514e+01] [ 4.83568242e-01 8.75304257e-01 -2.05265431e-03 2.40575027e+01] [ 4.28569605e-03 -2.26104689e-05 9.99990816e-01 2.43965214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.39, Y:24.07, Z:0.24 [[ 8.74081521e-01 -4.85764700e-01 -3.76183468e-03 9.83887057e+01] [ 4.85760361e-01 8.74089615e-01 -2.05336335e-03 2.40703639e+01] [ 4.28563206e-03 -3.25432092e-05 9.99990816e-01 2.40885681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:98.41, Y:24.08, Z:0.24 [[ 8.71918943e-01 -4.89635791e-01 -3.76144982e-03 9.84131587e+01] [ 4.89631485e-01 8.71927055e-01 -2.05406811e-03 2.40835432e+01] [ 4.28545513e-03 -5.07433644e-05 9.99990816e-01 2.39879974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.838623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:98.44, Y:24.10, Z:0.24 [[ 8.70946347e-01 -4.91363731e-01 -3.76106036e-03 9.84379379e+01] [ 4.91359438e-01 8.70954465e-01 -2.05478097e-03 2.40969450e+01] [ 4.28535716e-03 -5.84285262e-05 9.99990816e-01 2.40760322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.46, Y:24.11, Z:0.24 [[ 8.69792818e-01 -4.93402788e-01 -3.76065644e-03 9.84620662e+01] [ 4.93398511e-01 8.69800945e-01 -2.05551996e-03 2.41090961e+01] [ 4.28522181e-03 -6.76257890e-05 9.99990816e-01 2.40790644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.898623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:98.49, Y:24.12, Z:0.24 [[ 8.69646232e-01 -4.93661107e-01 -3.76049113e-03 9.84869282e+01] [ 4.93656832e-01 8.69654360e-01 -2.05582235e-03 2.41218226e+01] [ 4.28520704e-03 -6.85539760e-05 9.99990816e-01 2.40809110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.51, Y:24.13, Z:0.24 [[ 8.69750728e-01 -4.93476983e-01 -3.76010975e-03 9.85115425e+01] [ 4.93472702e-01 8.69758853e-01 -2.05651965e-03 2.41344330e+01] [ 4.28523386e-03 -6.68520585e-05 9.99990816e-01 2.41259391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.958623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.54, Y:24.15, Z:0.24 [[ 8.70693351e-01 -4.91811908e-01 -3.75971835e-03 9.85370827e+01] [ 4.91807609e-01 8.70701467e-01 -2.05723496e-03 2.41470759e+01] [ 4.28536493e-03 -5.78372861e-05 9.99990816e-01 2.41353942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:98.56, Y:24.16, Z:0.24 [[ 8.71362412e-01 -4.90625535e-01 -3.75932342e-03 9.85606592e+01] [ 4.90621221e-01 8.71370519e-01 -2.05795640e-03 2.41605513e+01] [ 4.28544956e-03 -5.11779981e-05 9.99990816e-01 2.44992874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01862385300001 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:98.59, Y:24.17, Z:0.24 [[ 8.72676548e-01 -4.88284252e-01 -3.75915351e-03 9.85862991e+01] [ 4.88279916e-01 8.72684644e-01 -2.05826672e-03 2.41723566e+01] [ 4.28557476e-03 -3.93180652e-05 9.99990816e-01 2.41259243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:98.61, Y:24.19, Z:0.24 [[ 8.73371234e-01 -4.87040613e-01 -3.75876827e-03 9.86111741e+01] [ 4.87036262e-01 8.73379322e-01 -2.05897000e-03 2.41854353e+01] [ 4.28563249e-03 -3.24112773e-05 9.99990816e-01 2.42166119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:98.64, Y:24.20, Z:0.24 [[ 8.74817234e-01 -4.84438522e-01 -3.75837711e-03 9.86356989e+01] [ 4.84434144e-01 8.74825307e-01 -2.05968376e-03 2.41983297e+01] [ 4.28571356e-03 -1.88393459e-05 9.99990816e-01 2.42779299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:98.66, Y:24.21, Z:0.24 [[ 8.74725777e-01 -4.84603645e-01 -3.75798946e-03 9.86606060e+01] [ 4.84599265e-01 8.74733849e-01 -2.06039080e-03 2.42122076e+01] [ 4.28571347e-03 -1.88419859e-05 9.99990816e-01 2.42901367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:98.69, Y:24.23, Z:0.24 [[ 8.75326204e-01 -4.83518270e-01 -3.75760040e-03 9.86855689e+01] [ 4.83513878e-01 8.75334269e-01 -2.06110008e-03 2.42257048e+01] [ 4.28573595e-03 -1.27170318e-05 9.99990816e-01 2.43663359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16862385300001 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:98.71, Y:24.24, Z:0.24 [[ 8.75945491e-01 -4.82395461e-01 -3.75721201e-03 9.87096981e+01] [ 4.82391055e-01 8.75953549e-01 -2.06180785e-03 2.42380384e+01] [ 4.28574994e-03 -6.41417995e-06 9.99990816e-01 2.44220036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19862385300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:98.73, Y:24.25, Z:0.24 [[ 8.77043557e-01 -4.80396174e-01 -3.75705070e-03 9.87344139e+01] [ 4.80391749e-01 8.77051604e-01 -2.06210176e-03 2.42500003e+01] [ 4.28575313e-03 3.69690568e-06 9.99990816e-01 2.44859076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.228623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:98.76, Y:24.26, Z:0.25 [[ 8.77584986e-01 -4.79406381e-01 -3.75678877e-03 9.87589017e+01] [ 4.79401945e-01 8.77593027e-01 -2.06257884e-03 2.42642219e+01] [ 4.28574508e-03 9.07637941e-06 9.99990816e-01 2.50142420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.258623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:98.78, Y:24.28, Z:0.25 [[ 8.78526994e-01 -4.77677935e-01 -3.75640898e-03 9.87843532e+01] [ 4.77673479e-01 8.78535025e-01 -2.06327028e-03 2.42770017e+01] [ 4.28571554e-03 1.83016900e-05 9.99990816e-01 2.45439070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:98.81, Y:24.29, Z:0.25 [[ 8.79014644e-01 -4.76779978e-01 -3.75603106e-03 9.88087911e+01] [ 4.76775512e-01 8.79022668e-01 -2.06395802e-03 2.42903505e+01] [ 4.28569031e-03 2.34656981e-05 9.99990816e-01 2.45390696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.318623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:98.83, Y:24.30, Z:0.24 [[ 8.79930488e-01 -4.75087603e-01 -3.75565621e-03 9.88332932e+01] [ 4.75083118e-01 8.79938503e-01 -2.06463990e-03 2.43030442e+01] [ 4.28563132e-03 3.24907336e-05 9.99990816e-01 2.43803372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.86, Y:24.32, Z:0.24 [[ 8.80818260e-01 -4.73439636e-01 -3.75550236e-03 9.88566928e+01] [ 4.73435135e-01 8.80826265e-01 -2.06491969e-03 2.43162351e+01] [ 4.28555995e-03 4.08322007e-05 9.99990816e-01 2.42401021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:98.88, Y:24.33, Z:0.24 [[ 8.81165180e-01 -4.72793637e-01 -3.75534559e-03 9.88809900e+01] [ 4.72789128e-01 8.81173181e-01 -2.06520477e-03 2.43304096e+01] [ 4.28552549e-03 4.42999691e-05 9.99990816e-01 2.42100270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:98.91, Y:24.34, Z:0.24 [[ 8.81356830e-01 -4.72436280e-01 -3.75497730e-03 9.89051868e+01] [ 4.72431766e-01 8.81364827e-01 -2.06587418e-03 2.43439510e+01] [ 4.28549883e-03 4.68017647e-05 9.99990816e-01 2.42134143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.93, Y:24.36, Z:0.24 [[ 8.81417111e-01 -4.72323808e-01 -3.75459338e-03 9.89286032e+01] [ 4.72319290e-01 8.81425106e-01 -2.06657170e-03 2.43565556e+01] [ 4.28548388e-03 4.81447757e-05 9.99990816e-01 2.40228175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:98.95, Y:24.37, Z:0.24 [[ 8.81017794e-01 -4.73068232e-01 -3.75433130e-03 9.89532723e+01] [ 4.73063718e-01 8.81025792e-01 -2.06704770e-03 2.43700232e+01] [ 4.28551731e-03 4.50678816e-05 9.99990816e-01 2.42366745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49862385300001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:98.98, Y:24.38, Z:0.25 [[ 8.80499256e-01 -4.74032665e-01 -3.75394704e-03 9.89783225e+01] [ 4.74028157e-01 8.80507258e-01 -2.06774532e-03 2.43835364e+01] [ 4.28555644e-03 4.11716213e-05 9.99990816e-01 2.45223419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52862385300001 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:99.00, Y:24.40, Z:0.25 [[ 8.80504237e-01 -4.74023415e-01 -3.75358976e-03 9.90021942e+01] [ 4.74018905e-01 8.80512237e-01 -2.06839369e-03 2.43980515e+01] [ 4.28554876e-03 4.19569081e-05 9.99990816e-01 2.49239973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:99.03, Y:24.41, Z:0.24 [[ 8.80355780e-01 -4.74299075e-01 -3.75345512e-03 9.90254525e+01] [ 4.74294565e-01 8.80363781e-01 -2.06863799e-03 2.44108659e+01] [ 4.28555902e-03 4.08940512e-05 9.99990816e-01 2.41699840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:99.05, Y:24.43, Z:0.24 [[ 8.80216002e-01 -4.74558429e-01 -3.75318654e-03 9.90498743e+01] [ 4.74553920e-01 8.80224003e-01 -2.06912516e-03 2.44250717e+01] [ 4.28556567e-03 4.01876927e-05 9.99990816e-01 2.43599692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.618623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:99.07, Y:24.44, Z:0.24 [[ 8.80159014e-01 -4.74664119e-01 -3.75279734e-03 9.90748435e+01] [ 4.74659608e-01 8.80167014e-01 -2.06983083e-03 2.44385856e+01] [ 4.28556285e-03 4.04789455e-05 9.99990816e-01 2.44376033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:99.10, Y:24.45, Z:0.24 [[ 8.80427181e-01 -4.74166531e-01 -3.75240660e-03 9.90987334e+01] [ 4.74162012e-01 8.80435176e-01 -2.07053896e-03 2.44521524e+01] [ 4.28553104e-03 4.37101150e-05 9.99990816e-01 2.44223915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.678623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:99.12, Y:24.47, Z:0.25 [[ 8.80514239e-01 -4.74004847e-01 -3.75228542e-03 9.91225304e+01] [ 4.74000326e-01 8.80522233e-01 -2.07075854e-03 2.44666511e+01] [ 4.28552032e-03 4.47478632e-05 9.99990816e-01 2.48138543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:99.15, Y:24.48, Z:0.25 [[ 8.81047462e-01 -4.73012995e-01 -3.75189750e-03 9.91454072e+01] [ 4.73008461e-01 8.81055449e-01 -2.07146116e-03 2.44824623e+01] [ 4.28545778e-03 5.03763349e-05 9.99990816e-01 2.50228904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.738623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:99.17, Y:24.50, Z:0.25 [[ 8.81302582e-01 -4.72537497e-01 -3.75149296e-03 9.91683963e+01] [ 4.72532956e-01 8.81310565e-01 -2.07219354e-03 2.44958574e+01] [ 4.28541952e-03 5.35254588e-05 9.99990816e-01 2.49558277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76862385300001 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:99.19, Y:24.51, Z:0.25 [[ 8.81434596e-01 -4.72291203e-01 -3.75131724e-03 9.91928297e+01] [ 4.72286659e-01 8.81442577e-01 -2.07251159e-03 2.45102883e+01] [ 4.28539973e-03 5.50863366e-05 9.99990816e-01 2.50562041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:99.21, Y:24.53, Z:0.25 [[ 8.81558521e-01 -4.72059853e-01 -3.75091777e-03 9.92145342e+01] [ 4.72055303e-01 8.81566499e-01 -2.07323430e-03 2.45263072e+01] [ 4.28537413e-03 5.70367390e-05 9.99990816e-01 2.50923008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:99.24, Y:24.54, Z:0.25 [[ 8.81313605e-01 -4.72516944e-01 -3.75064570e-03 9.92369374e+01] [ 4.72512397e-01 8.81321584e-01 -2.07372639e-03 2.45431735e+01] [ 4.28539587e-03 5.53766837e-05 9.99990816e-01 2.50915888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85862385300001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:99.26, Y:24.56, Z:0.25 [[ 8.80926472e-01 -4.73238298e-01 -3.75024995e-03 9.92603079e+01] [ 4.73233754e-01 8.80934453e-01 -2.07444185e-03 2.45582012e+01] [ 4.28542972e-03 5.26858777e-05 9.99990816e-01 2.51368662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:99.28, Y:24.57, Z:0.25 [[ 8.80707747e-01 -4.73645229e-01 -3.74984122e-03 9.92831942e+01] [ 4.73640686e-01 8.80715728e-01 -2.07518041e-03 2.45720585e+01] [ 4.28544345e-03 5.15500924e-05 9.99990816e-01 2.50082854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:99.31, Y:24.59, Z:0.25 [[ 8.79617589e-01 -4.75666730e-01 -3.74966339e-03 9.93071585e+01] [ 4.75662204e-01 8.79625580e-01 -2.07550169e-03 2.45869199e+01] [ 4.28554693e-03 4.20746373e-05 9.99990816e-01 2.49348034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94862385300002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:99.33, Y:24.60, Z:0.25 [[ 8.79005505e-01 -4.76796880e-01 -3.74926880e-03 9.93301491e+01] [ 4.76792361e-01 8.79013500e-01 -2.07621425e-03 2.46003331e+01] [ 4.28559037e-03 3.73810289e-05 9.99990816e-01 2.48310789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.978623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:99.35, Y:24.62, Z:0.25 [[ 8.77656244e-01 -4.79275976e-01 -3.74909699e-03 9.93545109e+01] [ 4.79271478e-01 8.77664251e-01 -2.07652445e-03 2.46164993e+01] [ 4.28567668e-03 2.56393965e-05 9.99990816e-01 2.50950457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:99.38, Y:24.63, Z:0.25 [[ 8.76947047e-01 -4.80572392e-01 -3.74875826e-03 9.93784793e+01] [ 4.80567904e-01 8.76955059e-01 -2.07713578e-03 2.46316800e+01] [ 4.28570663e-03 2.00051915e-05 9.99990816e-01 2.51545191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.038623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:99.40, Y:24.65, Z:0.25 [[ 8.75895462e-01 -4.82486361e-01 -3.74836336e-03 9.94014063e+01] [ 4.82481887e-01 8.75903483e-01 -2.07784817e-03 2.46460136e+01] [ 4.28573792e-03 1.14603571e-05 9.99990816e-01 2.50992157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:99.43, Y:24.66, Z:0.25 [[ 8.75459159e-01 -4.83277573e-01 -3.74819136e-03 9.94252638e+01] [ 4.83273105e-01 8.75467182e-01 -2.07815839e-03 2.46601429e+01] [ 4.28574587e-03 7.94271856e-06 9.99990816e-01 2.51529547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.098623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:99.45, Y:24.67, Z:0.25 [[ 8.75155572e-01 -4.83827117e-01 -3.74779357e-03 9.94480475e+01] [ 4.83822650e-01 8.75163597e-01 -2.07887551e-03 2.46740532e+01] [ 4.28574885e-03 6.07207055e-06 9.99990816e-01 2.50798775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12862385300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:99.47, Y:24.69, Z:0.25 [[ 8.74657948e-01 -4.84726138e-01 -3.74762127e-03 9.94715206e+01] [ 4.84721678e-01 8.74665977e-01 -2.07918607e-03 2.46895339e+01] [ 4.28575266e-03 2.02335023e-06 9.99990816e-01 2.50488419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:99.49, Y:24.71, Z:0.25 [[ 8.74306038e-01 -4.85360598e-01 -3.74723142e-03 9.94948188e+01] [ 4.85356142e-01 8.74314068e-01 -2.07988845e-03 2.47054279e+01] [ 4.28575305e-03 -2.82754629e-07 9.99990816e-01 2.49276103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18862385300001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:99.52, Y:24.72, Z:0.25 [[ 8.74097470e-01 -4.85736115e-01 -3.74683962e-03 9.95181704e+01] [ 4.85731659e-01 8.74105501e-01 -2.08059403e-03 2.47207669e+01] [ 4.28575278e-03 -1.31665084e-06 9.99990816e-01 2.53303352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:99.54, Y:24.73, Z:0.25 [[ 8.73828930e-01 -4.86219051e-01 -3.74643518e-03 9.95418932e+01] [ 4.86214596e-01 8.73836961e-01 -2.08132202e-03 2.47343726e+01] [ 4.28575195e-03 -2.85207277e-06 9.99990816e-01 2.48331876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24862385300001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:99.57, Y:24.75, Z:0.25 [[ 8.73574947e-01 -4.86675227e-01 -3.74625966e-03 9.95659862e+01] [ 4.86670776e-01 8.73582980e-01 -2.08163790e-03 2.47491961e+01] [ 4.28575028e-03 -4.72837983e-06 9.99990816e-01 2.48348566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:99.59, Y:24.76, Z:0.25 [[ 8.73344347e-01 -4.87088925e-01 -3.74586718e-03 9.95900197e+01] [ 4.87084474e-01 8.73352380e-01 -2.08234393e-03 2.47635392e+01] [ 4.28574868e-03 -5.95044941e-06 9.99990816e-01 2.48882507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30862385300001 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:99.61, Y:24.78, Z:0.25 [[ 8.72741813e-01 -4.88167696e-01 -3.74547301e-03 9.96127664e+01] [ 4.88163251e-01 8.72749850e-01 -2.08305267e-03 2.47787801e+01] [ 4.28574003e-03 -1.04351224e-05 9.99990816e-01 2.49367503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.338623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:99.64, Y:24.79, Z:0.25 [[ 8.72128723e-01 -4.89262161e-01 -3.74530156e-03 9.96368732e+01] [ 4.89257726e-01 8.72136765e-01 -2.08336089e-03 2.47933350e+01] [ 4.28572484e-03 -1.54588531e-05 9.99990816e-01 2.50260200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:99.66, Y:24.81, Z:0.25 [[ 8.70625652e-01 -4.91931855e-01 -3.74490058e-03 9.96604611e+01] [ 4.91927441e-01 8.70633705e-01 -2.08408141e-03 2.48067051e+01] [ 4.28566271e-03 -2.77646239e-05 9.99990816e-01 2.49987362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.398623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:99.68, Y:24.82, Z:0.25 [[ 8.69853758e-01 -4.93295466e-01 -3.74472591e-03 9.96841615e+01] [ 4.93291063e-01 8.69861818e-01 -2.08439522e-03 2.48203449e+01] [ 4.28561680e-03 -3.41208052e-05 9.99990816e-01 2.49770622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:99.71, Y:24.83, Z:0.25 [[ 8.69126055e-01 -4.94576466e-01 -3.74445987e-03 9.97073570e+01] [ 4.94572073e-01 8.69134120e-01 -2.08487304e-03 2.48340578e+01] [ 4.28556697e-03 -3.98878011e-05 9.99990816e-01 2.48884046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.458623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:99.73, Y:24.85, Z:0.25 [[ 8.68192544e-01 -4.96213350e-01 -3.74419778e-03 9.97315983e+01] [ 4.96208970e-01 8.68200616e-01 -2.08534361e-03 2.48475449e+01] [ 4.28549016e-03 -4.74247488e-05 9.99990816e-01 2.48781390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:99.76, Y:24.86, Z:0.25 [[ 8.67889798e-01 -4.96742672e-01 -3.74380223e-03 9.97552448e+01] [ 4.96738294e-01 8.67897872e-01 -2.08605349e-03 2.48602882e+01] [ 4.28546977e-03 -4.92253927e-05 9.99990816e-01 2.47863977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51862385300001 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:99.78, Y:24.87, Z:0.25 [[ 8.67739496e-01 -4.97005184e-01 -3.74363023e-03 9.97797139e+01] [ 4.97000807e-01 8.67747570e-01 -2.08636213e-03 2.48736507e+01] [ 4.28545882e-03 -5.01684227e-05 9.99990816e-01 2.48881193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54862385300001 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:99.80, Y:24.89, Z:0.25 [[ 8.67883763e-01 -4.96753220e-01 -3.74324162e-03 9.98045524e+01] [ 4.96748838e-01 8.67891835e-01 -2.08705911e-03 2.48873545e+01] [ 4.28548217e-03 -4.81262092e-05 9.99990816e-01 2.49960733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57862385300001 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:99.83, Y:24.90, Z:0.25 [[ 8.68152942e-01 -4.96282642e-01 -3.74285480e-03 9.98289152e+01] [ 4.96278253e-01 8.68161009e-01 -2.08775260e-03 2.49005339e+01] [ 4.28551597e-03 -4.50088770e-05 9.99990816e-01 2.51880892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60862385300001 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:99.85, Y:24.91, Z:0.25 [[ 8.68864042e-01 -4.95036635e-01 -3.74244941e-03 9.98524914e+01] [ 4.95032231e-01 8.68872101e-01 -2.08847902e-03 2.49138341e+01] [ 4.28558351e-03 -3.80287547e-05 9.99990816e-01 2.51693396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63862385300001 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:99.88, Y:24.93, Z:0.25 [[ 8.69395945e-01 -4.94101899e-01 -3.74227389e-03 9.98764428e+01] [ 4.94097485e-01 8.69403999e-01 -2.08879349e-03 2.49258677e+01] [ 4.28562471e-03 -3.30595219e-05 9.99990816e-01 2.50887823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66862385300001 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:99.90, Y:24.94, Z:0.25 [[ 8.69517910e-01 -4.93887236e-01 -3.74210440e-03 9.99012258e+01] [ 4.93882818e-01 8.69525961e-01 -2.08909709e-03 2.49379743e+01] [ 4.28563531e-03 -3.16537343e-05 9.99990816e-01 2.51595195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69862385300002 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:99.93, Y:24.95, Z:0.25 [[ 8.69767447e-01 -4.93447654e-01 -3.74170598e-03 9.99255788e+01] [ 4.93443229e-01 8.69775495e-01 -2.08981044e-03 2.49498846e+01] [ 4.28565623e-03 -2.86703856e-05 9.99990816e-01 2.50375510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.728623853 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:99.95, Y:24.96, Z:0.25 [[ 8.70580682e-01 -4.92011460e-01 -3.74143443e-03 9.99505014e+01] [ 4.92007021e-01 8.70588722e-01 -2.09029649e-03 2.49619019e+01] [ 4.28570045e-03 -2.10402667e-05 9.99990816e-01 2.50445106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.758623853 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:99.97, Y:24.97, Z:0.25 [[ 8.72065595e-01 -4.89374705e-01 -3.74103087e-03 9.99748039e+01] [ 4.89370238e-01 8.72073619e-01 -2.09101850e-03 2.49740730e+01] [ 4.28574589e-03 -7.24387645e-06 9.99990816e-01 2.49709230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788623853 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:100.00, Y:24.99, Z:0.25 [[ 8.72976175e-01 -4.87748504e-01 -3.74085582e-03 9.99981427e+01] [ 4.87744020e-01 8.72984191e-01 -2.09133161e-03 2.49869781e+01] [ 4.28575186e-03 1.10261239e-06 9.99990816e-01 2.49546577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.818623853 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:100.02, Y:25.00, Z:0.25 [[ 8.73986849e-01 -4.85935176e-01 -3.74068207e-03 1.00022610e+02] [ 4.85930674e-01 8.73994854e-01 -2.09164235e-03 2.50009436e+01] [ 4.28573947e-03 1.03557465e-05 9.99990816e-01 2.49955311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848623853 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:100.05, Y:25.02, Z:0.25 [[ 8.76555046e-01 -4.81287089e-01 -3.74029489e-03 1.00046900e+02] [ 4.81282542e-01 8.76563025e-01 -2.09233448e-03 2.50155365e+01] [ 4.28561777e-03 3.39077101e-05 9.99990816e-01 2.50312234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87862385300001 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:100.07, Y:25.03, Z:0.25 [[ 8.77910208e-01 -4.78810693e-01 -3.73989910e-03 1.00071311e+02] [ 4.78806121e-01 8.77918173e-01 -2.09304169e-03 2.50301658e+01] [ 4.28549613e-03 4.68160896e-05 9.99990816e-01 2.50557592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90862385300001 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:100.09, Y:25.05, Z:0.25 [[ 8.80537560e-01 -4.73961625e-01 -3.73950173e-03 1.00094226e+02] [ 4.73957006e-01 8.80545497e-01 -2.09375140e-03 2.50465227e+01] [ 4.28515923e-03 7.12637018e-05 9.99990816e-01 2.51386734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93862385300001 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:100.12, Y:25.06, Z:0.25 [[ 8.81813219e-01 -4.71583997e-01 -3.73909549e-03 1.00116621e+02] [ 4.71579353e-01 8.81821142e-01 -2.09447662e-03 2.50612540e+01] [ 4.28493512e-03 8.36569379e-05 9.99990816e-01 2.51639943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96862385300001 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:100.14, Y:25.08, Z:0.25 [[ 8.82915589e-01 -4.69516862e-01 -3.73881880e-03 1.00139044e+02] [ 4.69512197e-01 8.82923500e-01 -2.09497042e-03 2.50765208e+01] [ 4.28471492e-03 9.42610161e-05 9.99990816e-01 2.50449427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99862385300001 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:100.16, Y:25.09, Z:0.25 [[ 8.84458628e-01 -4.66603642e-01 -3.73864912e-03 1.00161067e+02] [ 4.66598950e-01 8.84466523e-01 -2.09527319e-03 2.50943004e+01] [ 4.28437209e-03 1.08732698e-04 9.99990816e-01 2.51936872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02862385300001 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:100.19, Y:25.11, Z:0.25 [[ 8.84372692e-01 -4.66766502e-01 -3.73826323e-03 1.00185839e+02] [ 4.66761809e-01 8.84380586e-01 -2.09596146e-03 2.51084045e+01] [ 4.28437202e-03 1.08732569e-04 9.99990816e-01 2.52058940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05862385300001 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:100.21, Y:25.12, Z:0.25 [[ 8.84781859e-01 -4.65990440e-01 -3.73787714e-03 1.00208575e+02] [ 4.65985737e-01 8.84789747e-01 -2.09664976e-03 2.51241586e+01] [ 4.28425412e-03 1.13280236e-04 9.99990816e-01 2.52658438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:100.23, Y:25.14, Z:0.25 [[ 8.84838286e-01 -4.65883289e-01 -3.73748004e-03 1.00230317e+02] [ 4.65878582e-01 8.84846172e-01 -2.09735739e-03 2.51413309e+01] [ 4.28421867e-03 1.14610216e-04 9.99990816e-01 2.51371803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.118623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:100.25, Y:25.16, Z:0.25 [[ 8.84400446e-01 -4.66713920e-01 -3.73735704e-03 1.00252338e+02] [ 4.66709219e-01 8.84408336e-01 -2.09757655e-03 2.51566517e+01] [ 4.28431789e-03 1.10838649e-04 9.99990816e-01 2.50836207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:100.28, Y:25.17, Z:0.25 [[ 8.82675694e-01 -4.69967715e-01 -3.73719062e-03 1.00275022e+02] [ 4.69963042e-01 8.82683600e-01 -2.09787302e-03 2.51740370e+01] [ 4.28468946e-03 9.54000510e-05 9.99990816e-01 2.51610828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.178623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:100.30, Y:25.19, Z:0.25 [[ 8.81507146e-01 -4.72155893e-01 -3.73681276e-03 1.00298135e+02] [ 4.72151237e-01 8.81515063e-01 -2.09854585e-03 2.51881831e+01] [ 4.28489753e-03 8.55423991e-05 9.99990816e-01 2.51187682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208623853 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:100.32, Y:25.20, Z:0.25 [[ 8.80132408e-01 -4.74713580e-01 -3.73655509e-03 1.00322120e+02] [ 4.74708945e-01 8.80140336e-01 -2.09900455e-03 2.52032249e+01] [ 4.28511882e-03 7.36258031e-05 9.99990816e-01 2.54494904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.238623853 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:100.34, Y:25.22, Z:0.26 [[ 8.77700459e-01 -4.79195102e-01 -3.73614745e-03 1.00344933e+02] [ 4.79190505e-01 8.77708409e-01 -2.09972987e-03 2.52202057e+01] [ 4.28542831e-03 5.26074881e-05 9.99990816e-01 2.56279164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26862385300001 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:100.37, Y:25.24, Z:0.26 [[ 8.76569747e-01 -4.81260346e-01 -3.73602055e-03 1.00367671e+02] [ 4.81255766e-01 8.76577708e-01 -2.09995564e-03 2.52358252e+01] [ 4.28553771e-03 4.27761513e-05 9.99990816e-01 2.56568709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29862385300001 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:100.39, Y:25.25, Z:0.25 [[ 8.75032545e-01 -4.84049676e-01 -3.73574291e-03 1.00390788e+02] [ 4.84045120e-01 8.75040519e-01 -2.10044945e-03 2.52521889e+01] [ 4.28564829e-03 2.96935043e-05 9.99990816e-01 2.53161516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32862385300001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:100.41, Y:25.27, Z:0.25 [[ 8.74252119e-01 -4.85457803e-01 -3.73561823e-03 1.00414714e+02] [ 4.85453258e-01 8.74260099e-01 -2.10067116e-03 2.52669990e+01] [ 4.28568917e-03 2.30481725e-05 9.99990816e-01 2.52606109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:100.44, Y:25.28, Z:0.25 [[ 8.73175830e-01 -4.87391032e-01 -3.73522043e-03 1.00437576e+02] [ 4.87386502e-01 8.73183819e-01 -2.10137825e-03 2.52824652e+01] [ 4.28572696e-03 1.43766739e-05 9.99990816e-01 2.50995836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:100.46, Y:25.30, Z:0.25 [[ 8.72582966e-01 -4.88451655e-01 -3.73482560e-03 1.00461313e+02] [ 4.88447132e-01 8.72590958e-01 -2.10207976e-03 2.52976461e+01] [ 4.28573939e-03 9.97414100e-06 9.99990816e-01 2.51470094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:100.48, Y:25.31, Z:0.25 [[ 8.72023141e-01 -4.89450402e-01 -3.73442200e-03 1.00484138e+02] [ 4.89445885e-01 8.72031137e-01 -2.10279654e-03 2.53119223e+01] [ 4.28574687e-03 5.88975855e-06 9.99990816e-01 2.51755739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:100.51, Y:25.33, Z:0.25 [[ 8.70826461e-01 -4.91576373e-01 -3.73424635e-03 1.00507902e+02] [ 4.91571874e-01 8.70834468e-01 -2.10310842e-03 2.53278715e+01] [ 4.28574883e-03 -4.20801382e-06 9.99990816e-01 2.53506882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.478623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:100.53, Y:25.34, Z:0.25 [[ 8.70151573e-01 -4.92770025e-01 -3.73390103e-03 1.00530522e+02] [ 4.92765535e-01 8.70159584e-01 -2.10372132e-03 2.53417919e+01] [ 4.28574058e-03 -9.38132056e-06 9.99990816e-01 2.54670459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:100.55, Y:25.36, Z:0.25 [[ 8.68739998e-01 -4.95254355e-01 -3.73363100e-03 1.00553211e+02] [ 4.95249885e-01 8.68748021e-01 -2.10420045e-03 2.53564509e+01] [ 4.28569898e-03 -2.10772256e-05 9.99990816e-01 2.54792776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.538623853 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:100.58, Y:25.37, Z:0.26 [[ 8.68159777e-01 -4.96270756e-01 -3.73346515e-03 1.00576901e+02] [ 4.96266295e-01 8.68167804e-01 -2.10449468e-03 2.53706779e+01] [ 4.28567340e-03 -2.57552864e-05 9.99990816e-01 2.60066469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:100.60, Y:25.38, Z:0.25 [[ 8.67178847e-01 -4.97982843e-01 -3.73307364e-03 1.00600730e+02] [ 4.97978395e-01 8.67186881e-01 -2.10518892e-03 2.53826594e+01] [ 4.28562046e-03 -3.34147190e-05 9.99990816e-01 2.52036763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.598623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.63, Y:25.40, Z:0.25 [[ 8.66843399e-01 -4.98566533e-01 -3.73290328e-03 1.00625063e+02] [ 4.98562088e-01 8.66851435e-01 -2.10549097e-03 2.53966990e+01] [ 4.28559990e-03 -3.59531074e-05 9.99990816e-01 2.51762821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:100.65, Y:25.41, Z:0.25 [[ 8.66714395e-01 -4.98790764e-01 -3.73251414e-03 1.00648878e+02] [ 4.98786319e-01 8.66722431e-01 -2.10618060e-03 2.54103502e+01] [ 4.28559716e-03 -3.62699430e-05 9.99990816e-01 2.51184679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65862385300001 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:100.67, Y:25.42, Z:0.26 [[ 8.66934990e-01 -4.98407257e-01 -3.73224916e-03 1.00672416e+02] [ 4.98402806e-01 8.66943023e-01 -2.10665005e-03 2.54247376e+01] [ 4.28561704e-03 -3.38348181e-05 9.99990816e-01 2.55249762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68862385300001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:100.70, Y:25.44, Z:0.25 [[ 8.66813858e-01 -4.98617897e-01 -3.73212902e-03 1.00696961e+02] [ 4.98613447e-01 8.66821891e-01 -2.10686287e-03 2.54382602e+01] [ 4.28561067e-03 -3.46317861e-05 9.99990816e-01 2.49771470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71862385300001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:100.72, Y:25.45, Z:0.25 [[ 8.67330907e-01 -4.97717963e-01 -3.73174646e-03 1.00720580e+02] [ 4.97713502e-01 8.67338935e-01 -2.10754024e-03 2.54517180e+01] [ 4.28564964e-03 -2.94058092e-05 9.99990816e-01 2.48933444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:100.75, Y:25.47, Z:0.25 [[ 8.67743164e-01 -4.96998870e-01 -3.73158239e-03 1.00745355e+02] [ 4.96994401e-01 8.67751187e-01 -2.10783070e-03 2.54655728e+01] [ 4.28567453e-03 -2.55198712e-05 9.99990816e-01 2.49111887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77862385300001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:100.77, Y:25.48, Z:0.25 [[ 8.68908833e-01 -4.94958097e-01 -3.73120340e-03 1.00768540e+02] [ 4.94953606e-01 8.68916844e-01 -2.10850137e-03 2.54792933e+01] [ 4.28572531e-03 -1.46771090e-05 9.99990816e-01 2.49118001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80862385300001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:100.79, Y:25.49, Z:0.25 [[ 8.69604954e-01 -4.93734042e-01 -3.73103854e-03 1.00793003e+02] [ 4.93729538e-01 8.69612958e-01 -2.10879305e-03 2.54935084e+01] [ 4.28574238e-03 -8.30705850e-06 9.99990816e-01 2.49979521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.838623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:100.82, Y:25.51, Z:0.25 [[ 8.70932685e-01 -4.91388176e-01 -3.73066286e-03 1.00817468e+02] [ 4.91383649e-01 8.70940675e-01 -2.10945745e-03 2.55068251e+01] [ 4.28574848e-03 4.00871346e-06 9.99990816e-01 2.51006570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:100.84, Y:25.52, Z:0.25 [[ 8.71599405e-01 -4.90204611e-01 -3.73054671e-03 1.00841354e+02] [ 4.90200071e-01 8.71607388e-01 -2.10966284e-03 2.55202021e+01] [ 4.28573853e-03 1.00666168e-05 9.99990816e-01 2.51289298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.898623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:100.87, Y:25.53, Z:0.25 [[ 8.72814451e-01 -4.88037927e-01 -3.73029318e-03 1.00865617e+02] [ 4.88033366e-01 8.72822422e-01 -2.11011104e-03 2.55348816e+01] [ 4.28569775e-03 2.12278750e-05 9.99990816e-01 2.50436221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:100.89, Y:25.55, Z:0.25 [[ 8.73376502e-01 -4.87031389e-01 -3.72992631e-03 1.00890124e+02] [ 4.87026816e-01 8.73384466e-01 -2.11075933e-03 2.55493491e+01] [ 4.28566575e-03 2.69134637e-05 9.99990816e-01 2.50644544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.958623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:100.91, Y:25.56, Z:0.25 [[ 8.73955940e-01 -4.85990850e-01 -3.72955939e-03 1.00914444e+02] [ 4.85986264e-01 8.73963897e-01 -2.11140745e-03 2.55635649e+01] [ 4.28562496e-03 3.27624487e-05 9.99990816e-01 2.54160251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:100.94, Y:25.58, Z:0.25 [[ 8.75395313e-01 -4.83393359e-01 -3.72914765e-03 1.00937517e+02] [ 4.83388747e-01 8.75403255e-01 -2.11213442e-03 2.55780294e+01] [ 4.28549974e-03 4.63245604e-05 9.99990816e-01 2.52169354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.96, Y:25.59, Z:0.25 [[ 8.76051000e-01 -4.82204043e-01 -3.72897452e-03 1.00960237e+02] [ 4.82199419e-01 8.76058935e-01 -2.11244004e-03 2.55921805e+01] [ 4.28542857e-03 5.24958673e-05 9.99990816e-01 2.52645578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:100.98, Y:25.61, Z:0.26 [[ 8.77497039e-01 -4.79567557e-01 -3.72881701e-03 1.00983236e+02] [ 4.79562908e-01 8.77504959e-01 -2.11271804e-03 2.56079649e+01] [ 4.28524644e-03 6.57014977e-05 9.99990816e-01 2.55988179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07862385300001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:101.01, Y:25.62, Z:0.26 [[ 8.78079645e-01 -4.78499983e-01 -3.72870513e-03 1.01007070e+02] [ 4.78495323e-01 8.78087559e-01 -2.11291547e-03 2.56233686e+01] [ 4.28515960e-03 7.11401050e-05 9.99990816e-01 2.59795883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.03, Y:25.64, Z:0.26 [[ 8.78591458e-01 -4.77559577e-01 -3.72829931e-03 1.01029639e+02] [ 4.77554906e-01 8.78599365e-01 -2.11363131e-03 2.56382180e+01] [ 4.28506628e-03 7.65507930e-05 9.99990816e-01 2.56695682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.05, Y:25.65, Z:0.26 [[ 8.79332228e-01 -4.76194218e-01 -3.72812274e-03 1.01051151e+02] [ 4.76189533e-01 8.79340127e-01 -2.11394270e-03 2.56541515e+01] [ 4.28493522e-03 8.35649181e-05 9.99990816e-01 2.56003295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:101.07, Y:25.67, Z:0.26 [[ 8.79641564e-01 -4.75622563e-01 -3.72796777e-03 1.01074082e+02] [ 4.75617871e-01 8.79649459e-01 -2.11421597e-03 2.56699721e+01] [ 4.28487364e-03 8.66641439e-05 9.99990816e-01 2.57049590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:101.10, Y:25.69, Z:0.26 [[ 8.79984220e-01 -4.74988291e-01 -3.72761466e-03 1.01095840e+02] [ 4.74983592e-01 8.79992111e-01 -2.11483835e-03 2.56884802e+01] [ 4.28479495e-03 9.04685773e-05 9.99990816e-01 2.59703648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.228623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:101.12, Y:25.70, Z:0.26 [[ 8.80005228e-01 -4.74949372e-01 -3.72720965e-03 1.01118266e+02] [ 4.74944669e-01 8.80013117e-01 -2.11555190e-03 2.57037476e+01] [ 4.28477343e-03 9.14783765e-05 9.99990816e-01 2.56800602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.258623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:101.14, Y:25.72, Z:0.26 [[ 8.79628462e-01 -4.75646800e-01 -3.72703315e-03 1.01139933e+02] [ 4.75642102e-01 8.79636353e-01 -2.11586281e-03 2.57208639e+01] [ 4.28483722e-03 8.84392663e-05 9.99990816e-01 2.55808227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:101.16, Y:25.74, Z:0.26 [[ 8.79131379e-01 -4.76564928e-01 -3.72678745e-03 1.01162715e+02] [ 4.76560236e-01 8.79139274e-01 -2.11629548e-03 2.57373313e+01] [ 4.28491741e-03 8.44630601e-05 9.99990816e-01 2.59008304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.318623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:101.19, Y:25.75, Z:0.26 [[ 8.78490155e-01 -4.77745918e-01 -3.72638081e-03 1.01185833e+02] [ 4.77741234e-01 8.78498055e-01 -2.11701125e-03 2.57537579e+01] [ 4.28501178e-03 7.95277746e-05 9.99990816e-01 2.59408938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348623853 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:101.21, Y:25.77, Z:0.26 [[ 8.76850686e-01 -4.80748365e-01 -3.72596853e-03 1.01207685e+02] [ 4.80743705e-01 8.76858600e-01 -2.11773662e-03 2.57707617e+01] [ 4.28524597e-03 6.57028867e-05 9.99990816e-01 2.64868242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37862385300001 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:101.23, Y:25.79, Z:0.26 [[ 8.75570643e-01 -4.83075737e-01 -3.72578912e-03 1.01232574e+02] [ 4.83071097e-01 8.75578568e-01 -2.11805222e-03 2.57862963e+01] [ 4.28540074e-03 5.46833032e-05 9.99990816e-01 2.60881225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40862385300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:101.25, Y:25.80, Z:0.26 [[ 8.73226210e-01 -4.87300839e-01 -3.72543015e-03 1.01254248e+02] [ 4.87296234e-01 8.73234156e-01 -2.11868343e-03 2.58033294e+01] [ 4.28560906e-03 3.47018187e-05 9.99990816e-01 2.61665565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:101.28, Y:25.82, Z:0.26 [[ 8.71956676e-01 -4.89568868e-01 -3.72525120e-03 1.01276727e+02] [ 4.89564283e-01 8.71964634e-01 -2.11899802e-03 2.58180022e+01] [ 4.28568276e-03 2.39245366e-05 9.99990816e-01 2.60477706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.30, Y:25.83, Z:0.26 [[ 8.69757984e-01 -4.93464460e-01 -3.72497243e-03 1.01299925e+02] [ 4.93459908e-01 8.69765961e-01 -2.11948795e-03 2.58334726e+01] [ 4.28574620e-03 5.31701292e-06 9.99990816e-01 2.60532522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:101.32, Y:25.85, Z:0.26 [[ 8.68717801e-01 -4.95293357e-01 -3.72456728e-03 1.01323209e+02] [ 4.95288819e-01 8.68725785e-01 -2.12019969e-03 2.58487296e+01] [ 4.28574845e-03 -2.88131631e-06 9.99990816e-01 2.59186657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:101.35, Y:25.86, Z:0.26 [[ 8.67921121e-01 -4.96688090e-01 -3.72416389e-03 1.01346287e+02] [ 4.96683561e-01 8.67929111e-01 -2.12090800e-03 2.58643221e+01] [ 4.28574000e-03 -8.95013405e-06 9.99990816e-01 2.58672117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55862385300001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:101.37, Y:25.88, Z:0.26 [[ 8.67095837e-01 -4.98127436e-01 -3.72375786e-03 1.01369078e+02] [ 4.98122918e-01 8.67103833e-01 -2.12162065e-03 2.58807465e+01] [ 4.28572217e-03 -1.52406974e-05 9.99990816e-01 2.57923009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:101.39, Y:25.90, Z:0.26 [[ 8.66937593e-01 -4.98402795e-01 -3.72334381e-03 1.01392803e+02] [ 4.98398277e-01 8.66945589e-01 -2.12234704e-03 2.58962811e+01] [ 4.28572019e-03 -1.57657076e-05 9.99990816e-01 2.58098012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.618623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:101.41, Y:25.91, Z:0.26 [[ 8.67259908e-01 -4.97841733e-01 -3.72292701e-03 1.01414928e+02] [ 4.97837206e-01 8.67267899e-01 -2.12307792e-03 2.59130727e+01] [ 4.28573188e-03 -1.21512131e-05 9.99990816e-01 2.61675509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:101.44, Y:25.93, Z:0.26 [[ 8.67290676e-01 -4.97788132e-01 -3.72273122e-03 1.01438974e+02] [ 4.97783603e-01 8.67298666e-01 -2.12342118e-03 2.59277807e+01] [ 4.28573368e-03 -1.14911676e-05 9.99990816e-01 2.56349978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.678623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:101.46, Y:25.94, Z:0.26 [[ 8.67436293e-01 -4.97534342e-01 -3.72233449e-03 1.01461302e+02] [ 4.97529808e-01 8.67444280e-01 -2.12411640e-03 2.59422782e+01] [ 4.28573862e-03 -9.43671093e-06 9.99990816e-01 2.55683609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.48, Y:25.96, Z:0.25 [[ 8.67559277e-01 -4.97319863e-01 -3.72216223e-03 1.01484446e+02] [ 4.97315325e-01 8.67567262e-01 -2.12441821e-03 2.59580720e+01] [ 4.28574147e-03 -8.02959341e-06 9.99990816e-01 2.54182515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.738623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:101.51, Y:25.97, Z:0.26 [[ 8.67445100e-01 -4.97518992e-01 -3.72177091e-03 1.01507944e+02] [ 4.97514454e-01 8.67453084e-01 -2.12510355e-03 2.59728545e+01] [ 4.28574103e-03 -8.22416100e-06 9.99990816e-01 2.55053404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:101.53, Y:25.99, Z:0.26 [[ 8.67365384e-01 -4.97657956e-01 -3.72137893e-03 1.01531720e+02] [ 4.97653416e-01 8.67373368e-01 -2.12578975e-03 2.59880525e+01] [ 4.28574116e-03 -8.12049058e-06 9.99990816e-01 2.56892055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.55, Y:26.00, Z:0.26 [[ 8.67198860e-01 -4.97948080e-01 -3.72125710e-03 1.01554351e+02] [ 4.97943541e-01 8.67206844e-01 -2.12600300e-03 2.60020313e+01] [ 4.28573873e-03 -9.30856573e-06 9.99990816e-01 2.56987347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.58, Y:26.02, Z:0.26 [[ 8.67046424e-01 -4.98213462e-01 -3.72099111e-03 1.01577509e+02] [ 4.98208924e-01 8.67054408e-01 -2.12646844e-03 2.60163561e+01] [ 4.28573695e-03 -1.00841228e-05 9.99990816e-01 2.57189981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.60, Y:26.03, Z:0.26 [[ 8.67110243e-01 -4.98102381e-01 -3.72082390e-03 1.01600760e+02] [ 4.98097841e-01 8.67118226e-01 -2.12676098e-03 2.60316498e+01] [ 4.28573893e-03 -9.19811804e-06 9.99990816e-01 2.56207271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88862385300001 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:101.62, Y:26.05, Z:0.26 [[ 8.67853948e-01 -4.96805478e-01 -3.72044346e-03 1.01623268e+02] [ 4.96800923e-01 8.67861923e-01 -2.12742629e-03 2.60471270e+01] [ 4.28574825e-03 -2.02443895e-06 9.99990816e-01 2.61287553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91862385300001 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:101.65, Y:26.06, Z:0.26 [[ 8.67765307e-01 -4.96960294e-01 -3.72006504e-03 1.01647889e+02] [ 4.96955738e-01 8.67773280e-01 -2.12808779e-03 2.60614560e+01] [ 4.28574818e-03 -2.02691645e-06 9.99990816e-01 2.61409621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.67, Y:26.08, Z:0.26 [[ 8.68085657e-01 -4.96400500e-01 -3.71968528e-03 1.01670915e+02] [ 4.96395935e-01 8.68093626e-01 -2.12875137e-03 2.60751461e+01] [ 4.28574833e-03 1.50187343e-06 9.99990816e-01 2.55696572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.978623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:101.69, Y:26.09, Z:0.26 [[ 8.68529380e-01 -4.95623729e-01 -3.71952016e-03 1.01694753e+02] [ 4.95619156e-01 8.68537345e-01 -2.12903985e-03 2.60908433e+01] [ 4.28574483e-03 5.66821890e-06 9.99990816e-01 2.55440597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.72, Y:26.11, Z:0.25 [[ 8.69782870e-01 -4.93420638e-01 -3.71914318e-03 1.01715938e+02] [ 4.93416042e-01 8.69790822e-01 -2.12969818e-03 2.61072891e+01] [ 4.28571363e-03 1.72900895e-05 9.99990816e-01 2.54818390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.038623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.74, Y:26.12, Z:0.26 [[ 8.70481031e-01 -4.92187914e-01 -3.71897881e-03 1.01739520e+02] [ 4.92183306e-01 8.70488975e-01 -2.12998516e-03 2.61231035e+01] [ 4.28568301e-03 2.36923934e-05 9.99990816e-01 2.56758235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.76, Y:26.14, Z:0.26 [[ 8.71861628e-01 -4.89738168e-01 -3.71858073e-03 1.01762798e+02] [ 4.89733535e-01 8.71869557e-01 -2.13067991e-03 2.61413257e+01] [ 4.28559261e-03 3.65443687e-05 9.99990816e-01 2.59084740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.098623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.79, Y:26.16, Z:0.26 [[ 8.72258214e-01 -4.89031474e-01 -3.71822789e-03 1.01786037e+02] [ 4.89026831e-01 8.72266138e-01 -2.13129548e-03 2.61570784e+01] [ 4.28555485e-03 4.07267899e-05 9.99990816e-01 2.59496744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:101.81, Y:26.17, Z:0.26 [[ 8.72489731e-01 -4.88618305e-01 -3.71782627e-03 1.01809706e+02] [ 4.88613655e-01 8.72497651e-01 -2.13199583e-03 2.61729415e+01] [ 4.28552687e-03 4.35637811e-05 9.99990816e-01 2.59904091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15862385300001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:101.83, Y:26.19, Z:0.26 [[ 8.72657986e-01 -4.88317746e-01 -3.71742681e-03 1.01831526e+02] [ 4.88313091e-01 8.72665902e-01 -2.13269211e-03 2.61903756e+01] [ 4.28550303e-03 4.58426223e-05 9.99990816e-01 2.59321084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.85, Y:26.21, Z:0.26 [[ 8.72511517e-01 -4.88579405e-01 -3.71730262e-03 1.01854823e+02] [ 4.88574751e-01 8.72519434e-01 -2.13290855e-03 2.62069515e+01] [ 4.28551397e-03 4.48070706e-05 9.99990816e-01 2.59245943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:101.88, Y:26.23, Z:0.26 [[ 8.71893004e-01 -4.89682320e-01 -3.71693934e-03 1.01876588e+02] [ 4.89677673e-01 8.71900926e-01 -2.13354145e-03 2.62250182e+01] [ 4.28556038e-03 4.01176578e-05 9.99990816e-01 2.58401531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.90, Y:26.24, Z:0.26 [[ 8.71368173e-01 -4.90615627e-01 -3.71657699e-03 1.01899521e+02] [ 4.90610987e-01 8.71376099e-01 -2.13417247e-03 2.62406766e+01] [ 4.28559472e-03 3.62564598e-05 9.99990816e-01 2.58376751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:101.92, Y:26.26, Z:0.26 [[ 8.70822761e-01 -4.91583064e-01 -3.71621373e-03 1.01923038e+02] [ 4.91578430e-01 8.70830690e-01 -2.13480482e-03 2.62568655e+01] [ 4.28562686e-03 3.22261186e-05 9.99990816e-01 2.59665946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.94, Y:26.27, Z:0.26 [[ 8.69637820e-01 -4.93676265e-01 -3.71582509e-03 1.01944028e+02] [ 4.93671647e-01 8.69645758e-01 -2.13548107e-03 2.62743705e+01] [ 4.28568784e-03 2.26976053e-05 9.99990816e-01 2.58251122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:101.97, Y:26.29, Z:0.26 [[ 8.68871928e-01 -4.95022995e-01 -3.71565605e-03 1.01966921e+02] [ 4.95018388e-01 8.68879873e-01 -2.13577514e-03 2.62892526e+01] [ 4.28571657e-03 1.63969979e-05 9.99990816e-01 2.58596097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:101.99, Y:26.31, Z:0.26 [[ 8.66916386e-01 -4.98439740e-01 -3.71550036e-03 1.01989937e+02] [ 4.98435163e-01 8.66924348e-01 -2.13604596e-03 2.63051187e+01] [ 4.28574792e-03 -1.62781011e-07 9.99990816e-01 2.59913485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.398623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:102.01, Y:26.32, Z:0.26 [[ 8.65855943e-01 -5.00279606e-01 -3.71511590e-03 1.02012726e+02] [ 5.00275043e-01 8.65863913e-01 -2.13671442e-03 2.63198014e+01] [ 4.28573944e-03 -8.49288886e-06 9.99990816e-01 2.59818122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.04, Y:26.34, Z:0.26 [[ 8.63335509e-01 -5.04616685e-01 -3.71494954e-03 1.02035472e+02] [ 5.04612161e-01 8.63343501e-01 -2.13700362e-03 2.63367446e+01] [ 4.28564522e-03 -2.96576098e-05 9.99990816e-01 2.61569315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.458623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:102.06, Y:26.35, Z:0.27 [[ 8.61986185e-01 -5.06918158e-01 -3.71454993e-03 1.02059284e+02] [ 5.06913652e-01 8.61994188e-01 -2.13769801e-03 2.63522951e+01] [ 4.28555838e-03 -4.02899216e-05 9.99990816e-01 2.67216123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.08, Y:26.37, Z:0.26 [[ 8.60470941e-01 -5.09485981e-01 -3.71415407e-03 1.02083891e+02] [ 5.09481496e-01 8.60478955e-01 -2.13838557e-03 2.63663730e+01] [ 4.28542888e-03 -5.22741300e-05 9.99990816e-01 2.62800050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.11, Y:26.38, Z:0.26 [[ 8.58030913e-01 -5.13584617e-01 -3.71403109e-03 1.02107303e+02] [ 5.13580170e-01 8.58038948e-01 -2.13859915e-03 2.63793275e+01] [ 4.28513495e-03 -7.24685395e-05 9.99990816e-01 2.61919035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.13, Y:26.39, Z:0.26 [[ 8.56830406e-01 -5.15584971e-01 -3.71385993e-03 1.02131409e+02] [ 5.15580541e-01 8.56838451e-01 -2.13889634e-03 2.63927313e+01] [ 4.28496079e-03 -8.21224888e-05 9.99990816e-01 2.61174702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:102.16, Y:26.41, Z:0.26 [[ 8.55359888e-01 -5.18020919e-01 -3.71347242e-03 1.02155970e+02] [ 5.18016509e-01 8.55367943e-01 -2.13956891e-03 2.64051578e+01] [ 4.28472672e-03 -9.35385916e-05 9.99990816e-01 2.60854848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.18, Y:26.42, Z:0.26 [[ 8.54897729e-01 -5.18783273e-01 -3.71330320e-03 1.02180775e+02] [ 5.18778868e-01 8.54905788e-01 -2.13986255e-03 2.64188756e+01] [ 4.28464930e-03 -9.70195957e-05 9.99990816e-01 2.62678790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.20, Y:26.43, Z:0.26 [[ 8.54471048e-01 -5.19485748e-01 -3.71291179e-03 1.02204899e+02] [ 5.19481347e-01 8.54479109e-01 -2.14054148e-03 2.64323993e+01] [ 4.28458635e-03 -9.97576939e-05 9.99990816e-01 2.64411475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:102.23, Y:26.44, Z:0.26 [[ 8.54129019e-01 -5.20047917e-01 -3.71249647e-03 1.02229390e+02] [ 5.20043519e-01 8.54137081e-01 -2.14126155e-03 2.64440738e+01] [ 4.28453951e-03 -1.01746103e-04 9.99990816e-01 2.62651725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.25, Y:26.46, Z:0.26 [[ 8.53922190e-01 -5.20387464e-01 -3.71221431e-03 1.02254304e+02] [ 5.20383067e-01 8.53930253e-01 -2.14175061e-03 2.64567146e+01] [ 4.28451227e-03 -1.02885093e-04 9.99990816e-01 2.63695942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.728623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.28, Y:26.47, Z:0.26 [[ 8.53977623e-01 -5.20296494e-01 -3.71182105e-03 1.02279347e+02] [ 5.20292093e-01 8.53985683e-01 -2.14243194e-03 2.64678172e+01] [ 4.28454187e-03 -1.01642209e-04 9.99990816e-01 2.63121186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.758623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.30, Y:26.48, Z:0.26 [[ 8.53900498e-01 -5.20423061e-01 -3.71164969e-03 1.02303176e+02] [ 5.20418660e-01 8.53908559e-01 -2.14272878e-03 2.64800033e+01] [ 4.28453491e-03 -1.01934582e-04 9.99990816e-01 2.62242046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:102.33, Y:26.49, Z:0.26 [[ 8.53892850e-01 -5.20435612e-01 -3.71148215e-03 1.02327907e+02] [ 5.20431209e-01 8.53900910e-01 -2.14301894e-03 2.64923267e+01] [ 4.28454136e-03 -1.01662590e-04 9.99990816e-01 2.62899959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.818623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:102.35, Y:26.50, Z:0.26 [[ 8.54319598e-01 -5.19734791e-01 -3.71108063e-03 1.02353802e+02] [ 5.19730379e-01 8.54327652e-01 -2.14371404e-03 2.65042810e+01] [ 4.28464157e-03 -9.73444284e-05 9.99990816e-01 2.61609670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.38, Y:26.52, Z:0.26 [[ 8.54938701e-01 -5.18715768e-01 -3.71071898e-03 1.02378722e+02] [ 5.18711343e-01 8.54946749e-01 -2.14433986e-03 2.65172730e+01] [ 4.28477002e-03 -9.15128891e-05 9.99990816e-01 2.57936093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87862385300001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.40, Y:26.53, Z:0.26 [[ 8.56830071e-01 -5.15585551e-01 -3.71052582e-03 1.02403798e+02] [ 5.15581096e-01 8.56838102e-01 -2.14467404e-03 2.65297239e+01] [ 4.28508285e-03 -7.54557568e-05 9.99990816e-01 2.59129251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.43, Y:26.54, Z:0.26 [[ 8.58126575e-01 -5.13424791e-01 -3.71012536e-03 1.02428220e+02] [ 5.13420313e-01 8.58134593e-01 -2.14536659e-03 2.65435454e+01] [ 4.28527131e-03 -6.38576327e-05 9.99990816e-01 2.60221003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.45, Y:26.56, Z:0.26 [[ 8.59515319e-01 -5.11096522e-01 -3.70971860e-03 1.02452150e+02] [ 5.11092019e-01 8.59523323e-01 -2.14606972e-03 2.65572238e+01] [ 4.28543843e-03 -5.14277642e-05 9.99990816e-01 2.60887219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:102.48, Y:26.57, Z:0.26 [[ 8.62105079e-01 -5.06715968e-01 -3.70954516e-03 1.02476614e+02] [ 5.06711423e-01 8.62113059e-01 -2.14636946e-03 2.65699818e+01] [ 4.28564701e-03 -2.92728939e-05 9.99990816e-01 2.60766286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.50, Y:26.58, Z:0.26 [[ 8.62798373e-01 -5.05534577e-01 -3.70941834e-03 1.02501303e+02] [ 5.05530020e-01 8.62806346e-01 -2.14658863e-03 2.65834871e+01] [ 4.28568445e-03 -2.31491522e-05 9.99990816e-01 2.60798575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.53, Y:26.60, Z:0.26 [[ 8.63591664e-01 -5.04178223e-01 -3.70901579e-03 1.02526045e+02] [ 5.04173650e-01 8.63599629e-01 -2.14728396e-03 2.65967760e+01] [ 4.28571847e-03 -1.56115029e-05 9.99990816e-01 2.61386175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.55, Y:26.61, Z:0.26 [[ 8.63708416e-01 -5.03978193e-01 -3.70861274e-03 1.02548953e+02] [ 5.03973616e-01 8.63716378e-01 -2.14797983e-03 2.66101300e+01] [ 4.28572456e-03 -1.38147165e-05 9.99990816e-01 2.58756247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.57, Y:26.62, Z:0.26 [[ 8.63435952e-01 -5.04444847e-01 -3.70843804e-03 1.02574118e+02] [ 5.04440273e-01 8.63443916e-01 -2.14828141e-03 2.66228244e+01] [ 4.28571775e-03 -1.57820873e-05 9.99990816e-01 2.62129856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.118623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.60, Y:26.64, Z:0.27 [[ 8.63155406e-01 -5.04924742e-01 -3.70802850e-03 1.02598854e+02] [ 5.04920169e-01 8.63163371e-01 -2.14898806e-03 2.66357102e+01] [ 4.28571162e-03 -1.73477181e-05 9.99990816e-01 2.66407308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.62, Y:26.65, Z:0.26 [[ 8.62622380e-01 -5.05834838e-01 -3.70761552e-03 1.02623809e+02] [ 5.05830271e-01 8.62630347e-01 -2.14970034e-03 2.66478671e+01] [ 4.28569498e-03 -2.10445371e-05 9.99990816e-01 2.63073342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.65, Y:26.66, Z:0.26 [[ 8.61762231e-01 -5.07298841e-01 -3.70719222e-03 1.02648608e+02] [ 5.07294284e-01 8.61770204e-01 -2.15043007e-03 2.66584440e+01] [ 4.28565848e-03 -2.74780129e-05 9.99990816e-01 2.58424070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:102.67, Y:26.67, Z:0.27 [[ 8.61387298e-01 -5.07935213e-01 -3.70700839e-03 1.02673275e+02] [ 5.07930661e-01 8.61395274e-01 -2.15074692e-03 2.66714255e+01] [ 4.28563960e-03 -3.02771483e-05 9.99990816e-01 2.66440168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.70, Y:26.68, Z:0.26 [[ 8.60864636e-01 -5.08820538e-01 -3.70660644e-03 1.02700114e+02] [ 5.08815991e-01 8.60872615e-01 -2.15143943e-03 2.66831653e+01] [ 4.28561254e-03 -3.38825094e-05 9.99990816e-01 2.63437732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:102.72, Y:26.70, Z:0.27 [[ 8.60940738e-01 -5.08691764e-01 -3.70623771e-03 1.02724065e+02] [ 5.08687212e-01 8.60948714e-01 -2.15207443e-03 2.66963410e+01] [ 4.28562313e-03 -3.25071832e-05 9.99990816e-01 2.68580681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.75, Y:26.71, Z:0.26 [[ 8.60921924e-01 -5.08723604e-01 -3.70610697e-03 1.02748687e+02] [ 5.08719052e-01 8.60929901e-01 -2.15229956e-03 2.67090670e+01] [ 4.28562389e-03 -3.24053458e-05 9.99990816e-01 2.62969026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:102.77, Y:26.72, Z:0.27 [[ 8.61609166e-01 -5.07558778e-01 -3.70569667e-03 1.02774576e+02] [ 5.07554213e-01 8.61617134e-01 -2.15300576e-03 2.67205074e+01] [ 4.28566872e-03 -2.57924592e-05 9.99990816e-01 2.66718359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.80, Y:26.73, Z:0.26 [[ 8.61955934e-01 -5.06969663e-01 -3.70527845e-03 1.02798728e+02] [ 5.06965089e-01 8.61963897e-01 -2.15372527e-03 2.67321200e+01] [ 4.28568963e-03 -2.20305429e-05 9.99990816e-01 2.63470720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.82, Y:26.74, Z:0.26 [[ 8.62845722e-01 -5.05453789e-01 -3.70499322e-03 1.02824627e+02] [ 5.05449199e-01 8.62853676e-01 -2.15421583e-03 2.67440839e+01] [ 4.28572357e-03 -1.39299373e-05 9.99990816e-01 2.63747837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.85, Y:26.76, Z:0.27 [[ 8.63258863e-01 -5.04747870e-01 -3.70458374e-03 1.02848693e+02] [ 5.04743270e-01 8.63266811e-01 -2.15491978e-03 2.67582157e+01] [ 4.28573536e-03 -9.61010926e-06 9.99990816e-01 2.65511141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.87, Y:26.77, Z:0.27 [[ 8.63852317e-01 -5.03731530e-01 -3.70416194e-03 1.02873111e+02] [ 5.03726918e-01 8.63860258e-01 -2.15564457e-03 2.67723229e+01] [ 4.28574443e-03 -3.72751793e-06 9.99990816e-01 2.65609916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.478623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.90, Y:26.79, Z:0.26 [[ 8.65002689e-01 -5.01753553e-01 -3.70403107e-03 1.02896631e+02] [ 5.01748922e-01 8.65010620e-01 -2.15586943e-03 2.67850029e+01] [ 4.28574136e-03 6.33926344e-06 9.99990816e-01 2.63997469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.92, Y:26.80, Z:0.26 [[ 8.65543488e-01 -5.00820079e-01 -3.70384971e-03 1.02920637e+02] [ 5.00815438e-01 8.65551413e-01 -2.15618096e-03 2.67979528e+01] [ 4.28573107e-03 1.13232736e-05 9.99990816e-01 2.63933164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.538623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.94, Y:26.81, Z:0.26 [[ 8.66820726e-01 -4.98606169e-01 -3.70367908e-03 1.02944804e+02] [ 4.98601506e-01 8.66828638e-01 -2.15647401e-03 2.68112304e+01] [ 4.28568634e-03 2.26163976e-05 9.99990816e-01 2.64879189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:102.97, Y:26.83, Z:0.27 [[ 8.67544090e-01 -4.97346497e-01 -3.70326992e-03 1.02968702e+02] [ 4.97341819e-01 8.67551993e-01 -2.15717644e-03 2.68257946e+01] [ 4.28564334e-03 2.96546712e-05 9.99990816e-01 2.65341797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.598623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:102.99, Y:26.84, Z:0.26 [[ 8.68346391e-01 -4.95944387e-01 -3.70285236e-03 1.02991847e+02] [ 4.95939694e-01 8.68354285e-01 -2.15789294e-03 2.68396641e+01] [ 4.28558261e-03 3.74070795e-05 9.99990816e-01 2.62327329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.01, Y:26.85, Z:0.26 [[ 8.69933647e-01 -4.93154884e-01 -3.70267129e-03 1.03014940e+02] [ 4.93150165e-01 8.69941525e-01 -2.15820360e-03 2.68547386e+01] [ 4.28543615e-03 5.15209739e-05 9.99990816e-01 2.64084453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.04, Y:26.87, Z:0.27 [[ 8.70804174e-01 -4.91616094e-01 -3.70227269e-03 1.03037816e+02] [ 4.91611357e-01 8.70812042e-01 -2.15888715e-03 2.68705085e+01] [ 4.28532731e-03 5.98886373e-05 9.99990816e-01 2.65595054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.06, Y:26.89, Z:0.26 [[ 8.72685875e-01 -4.88268020e-01 -3.70184701e-03 1.03059411e+02] [ 4.88263250e-01 8.72693723e-01 -2.15961682e-03 2.68869259e+01] [ 4.28505048e-03 7.71912397e-05 9.99990816e-01 2.64733584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.08, Y:26.90, Z:0.26 [[ 8.73345441e-01 -4.87087300e-01 -3.70166189e-03 1.03081977e+02] [ 4.87082518e-01 8.73353282e-01 -2.15993408e-03 2.69016433e+01] [ 4.28493502e-03 8.33537846e-05 9.99990816e-01 2.64615655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.10, Y:26.92, Z:0.27 [[ 8.73924433e-01 -4.86047719e-01 -3.70138329e-03 1.03104838e+02] [ 4.86042926e-01 8.73932267e-01 -2.16041139e-03 2.69173387e+01] [ 4.28482132e-03 8.90051330e-05 9.99990816e-01 2.65145703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:103.13, Y:26.93, Z:0.26 [[ 8.74493292e-01 -4.85023488e-01 -3.70098038e-03 1.03126566e+02] [ 4.85018683e-01 8.74501119e-01 -2.16110139e-03 2.69348337e+01] [ 4.28469642e-03 9.48240412e-05 9.99990816e-01 2.63932586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:26.95, Z:0.26 [[ 8.74552063e-01 -4.84917514e-01 -3.70057633e-03 1.03149514e+02] [ 4.84912705e-01 8.74559887e-01 -2.16179305e-03 2.69504331e+01] [ 4.28466693e-03 9.61440979e-05 9.99990816e-01 2.63474978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:26.96, Z:0.26 [[ 8.74462504e-01 -4.85079000e-01 -3.70045122e-03 1.03174010e+02] [ 4.85074191e-01 8.74470328e-01 -2.16200718e-03 2.69649722e+01] [ 4.28467908e-03 9.56008309e-05 9.99990816e-01 2.63597055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.20, Y:26.98, Z:0.26 [[ 8.74382331e-01 -4.85223504e-01 -3.70005186e-03 1.03196699e+02] [ 4.85218694e-01 8.74390154e-01 -2.16269043e-03 2.69805659e+01] [ 4.28467715e-03 9.56839691e-05 9.99990816e-01 2.63059407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.22, Y:27.00, Z:0.27 [[ 8.73596173e-01 -4.86637480e-01 -3.69988160e-03 1.03218523e+02] [ 4.86632682e-01 8.73604003e-01 -2.16298168e-03 2.69980708e+01] [ 4.28481933e-03 8.90892121e-05 9.99990816e-01 2.65188469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.24, Y:27.01, Z:0.27 [[ 8.73014669e-01 -4.87679918e-01 -3.69947481e-03 1.03241426e+02] [ 4.87675125e-01 8.73022503e-01 -2.16367720e-03 2.70137409e+01] [ 4.28490668e-03 8.47800902e-05 9.99990816e-01 2.65780368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:27.03, Z:0.27 [[ 8.71794211e-01 -4.89858318e-01 -3.69906234e-03 1.03262846e+02] [ 4.89853542e-01 8.71802055e-01 -2.16438214e-03 2.70315686e+01] [ 4.28509075e-03 7.48970244e-05 9.99990816e-01 2.66646260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.28, Y:27.05, Z:0.27 [[ 8.71313159e-01 -4.90713459e-01 -3.69863783e-03 1.03284914e+02] [ 4.90708688e-01 8.71321006e-01 -2.16510733e-03 2.70475320e+01] [ 4.28514814e-03 7.15327869e-05 9.99990816e-01 2.66008941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:27.06, Z:0.27 [[ 8.70988828e-01 -4.91288900e-01 -3.69845390e-03 1.03307618e+02] [ 4.91284133e-01 8.70996677e-01 -2.16542148e-03 2.70638181e+01] [ 4.28518859e-03 6.90662035e-05 9.99990816e-01 2.67031016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.33, Y:27.08, Z:0.27 [[ 8.70407946e-01 -4.92317308e-01 -3.69804092e-03 1.03329246e+02] [ 4.92312547e-01 8.70415799e-01 -2.16612651e-03 2.70827746e+01] [ 4.28525482e-03 6.48217825e-05 9.99990816e-01 2.68436396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.35, Y:27.10, Z:0.27 [[ 8.69999871e-01 -4.93038084e-01 -3.69762503e-03 1.03350859e+02] [ 4.93033326e-01 8.70007726e-01 -2.16683622e-03 2.70988704e+01] [ 4.28529512e-03 6.20948669e-05 9.99990816e-01 2.68190678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:27.12, Z:0.27 [[ 8.69343582e-01 -4.94194359e-01 -3.69744364e-03 1.03374095e+02] [ 4.94189611e-01 8.69351443e-01 -2.16714570e-03 2.71153498e+01] [ 4.28536914e-03 5.67559776e-05 9.99990816e-01 2.68616775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.40, Y:27.13, Z:0.27 [[ 8.67381249e-01 -4.97630487e-01 -3.69702869e-03 1.03396542e+02] [ 4.97625766e-01 8.67389127e-01 -2.16785335e-03 2.71322840e+01] [ 4.28555240e-03 4.06186162e-05 9.99990816e-01 2.66896358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.42, Y:27.15, Z:0.27 [[ 8.66156373e-01 -4.99759415e-01 -3.69661284e-03 1.03419972e+02] [ 4.99754711e-01 8.66164260e-01 -2.16856222e-03 2.71476925e+01] [ 4.28563331e-03 3.09143044e-05 9.99990816e-01 2.65600274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.44, Y:27.17, Z:0.27 [[ 8.63607693e-01 -5.04150859e-01 -3.69648357e-03 1.03443171e+02] [ 5.04146195e-01 8.63615604e-01 -2.16878255e-03 2.71654245e+01] [ 4.28573448e-03 9.40916671e-06 9.99990816e-01 2.65271638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.228623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.47, Y:27.18, Z:0.26 [[ 8.62309666e-01 -5.06367830e-01 -3.69611730e-03 1.03465405e+02] [ 5.06363183e-01 8.62317587e-01 -2.16940658e-03 2.71810784e+01] [ 4.28574465e-03 -8.77457824e-07 9.99990816e-01 2.64299192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.258623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:103.49, Y:27.20, Z:0.27 [[ 8.60957679e-01 -5.08663165e-01 -3.69593491e-03 1.03488300e+02] [ 5.08658538e-01 8.60965612e-01 -2.16971726e-03 2.71963751e+01] [ 4.28572811e-03 -1.19341096e-05 9.99990816e-01 2.65275781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:103.51, Y:27.21, Z:0.27 [[ 8.58255613e-01 -5.13209162e-01 -3.69575155e-03 1.03511286e+02] [ 5.13204576e-01 8.58263569e-01 -2.17002954e-03 2.72119141e+01] [ 4.28560796e-03 -3.42365726e-05 9.99990816e-01 2.65678399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.318623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.53, Y:27.23, Z:0.27 [[ 8.56922828e-01 -5.15431479e-01 -3.69562192e-03 1.03534957e+02] [ 5.15426912e-01 8.56930796e-01 -2.17025028e-03 2.72271094e+01] [ 4.28550755e-03 -4.50859845e-05 9.99990816e-01 2.67675325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.56, Y:27.24, Z:0.27 [[ 8.55641681e-01 -5.17555465e-01 -3.69520085e-03 1.03558742e+02] [ 5.17550914e-01 8.55649658e-01 -2.17096699e-03 2.72426291e+01] [ 4.28539317e-03 -5.48847288e-05 9.99990816e-01 2.68819471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:103.58, Y:27.26, Z:0.27 [[ 8.53174821e-01 -5.21611995e-01 -3.69477946e-03 1.03581688e+02] [ 5.21607480e-01 8.53182818e-01 -2.17168392e-03 2.72582557e+01] [ 4.28509873e-03 -7.43985598e-05 9.99990816e-01 2.69425563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.60, Y:27.27, Z:0.27 [[ 8.52016384e-01 -5.23502083e-01 -3.69458287e-03 1.03604668e+02] [ 5.23497584e-01 8.52024391e-01 -2.17201831e-03 2.72723853e+01] [ 4.28493083e-03 -8.35100163e-05 9.99990816e-01 2.69858599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.63, Y:27.29, Z:0.27 [[ 8.50046363e-01 -5.26694914e-01 -3.69441575e-03 1.03629181e+02] [ 5.26690443e-01 8.50054385e-01 -2.17230254e-03 2.72867893e+01] [ 4.28459501e-03 -9.92555939e-05 9.99990816e-01 2.70091356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:103.65, Y:27.30, Z:0.27 [[ 8.49137613e-01 -5.28158752e-01 -3.69402007e-03 1.03653563e+02] [ 5.28154293e-01 8.49145642e-01 -2.17297519e-03 2.73004497e+01] [ 4.28443691e-03 -1.05857593e-04 9.99990816e-01 2.69581858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:103.68, Y:27.31, Z:0.27 [[ 8.48326990e-01 -5.29459796e-01 -3.69362330e-03 1.03677763e+02] [ 5.29455346e-01 8.48335023e-01 -2.17364941e-03 2.73137059e+01] [ 4.28428998e-03 -1.11643136e-04 9.99990816e-01 2.68182714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:103.70, Y:27.33, Z:0.27 [[ 8.47547245e-01 -5.30707100e-01 -3.69345903e-03 1.03701971e+02] [ 5.30702661e-01 8.47555284e-01 -2.17392850e-03 2.73273498e+01] [ 4.28413001e-03 -1.17621422e-04 9.99990816e-01 2.67426053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.73, Y:27.34, Z:0.26 [[ 8.46753051e-01 -5.31973337e-01 -3.69306702e-03 1.03727997e+02] [ 5.31968906e-01 8.46761096e-01 -2.17459424e-03 2.73406234e+01] [ 4.28397163e-03 -1.23252515e-04 9.99990816e-01 2.64565232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58862385300002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:103.75, Y:27.35, Z:0.27 [[ 8.46394373e-01 -5.32543829e-01 -3.69272415e-03 1.03752935e+02] [ 5.32539402e-01 8.46402419e-01 -2.17517632e-03 2.73541386e+01] [ 4.28390738e-03 -1.25464117e-04 9.99990816e-01 2.65841253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.618623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:103.78, Y:27.37, Z:0.27 [[ 8.46695113e-01 -5.32065552e-01 -3.69230797e-03 1.03777575e+02] [ 5.32061117e-01 8.46703155e-01 -2.17588254e-03 2.73666976e+01] [ 4.28400096e-03 -1.22224396e-04 9.99990816e-01 2.67060685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:103.80, Y:27.38, Z:0.27 [[ 8.47156600e-01 -5.31330467e-01 -3.69189104e-03 1.03802145e+02] [ 5.31326022e-01 8.47164636e-01 -2.17658973e-03 2.73804846e+01] [ 4.28412797e-03 -1.17685425e-04 9.99990816e-01 2.66057492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.678623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:103.83, Y:27.39, Z:0.27 [[ 8.47967077e-01 -5.30036044e-01 -3.69176165e-03 1.03826458e+02] [ 5.30031586e-01 8.47975106e-01 -2.17680918e-03 2.73937757e+01] [ 4.28430930e-03 -1.10887765e-04 9.99990816e-01 2.67583335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.85, Y:27.41, Z:0.27 [[ 8.50183676e-01 -5.26473256e-01 -3.69164315e-03 1.03852095e+02] [ 5.26468763e-01 8.50191685e-01 -2.17701011e-03 2.74074131e+01] [ 4.28474192e-03 -9.26763440e-05 9.99990816e-01 2.71253284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.738623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.88, Y:27.42, Z:0.27 [[ 8.52989215e-01 -5.21915485e-01 -3.69131183e-03 1.03877715e+02] [ 5.21910947e-01 8.52997199e-01 -2.17757176e-03 2.74209529e+01] [ 4.28518707e-03 -6.90908312e-05 9.99990816e-01 2.73302019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.90, Y:27.43, Z:0.27 [[ 8.54280319e-01 -5.19799493e-01 -3.69098070e-03 1.03900954e+02] [ 5.19794932e-01 8.54288291e-01 -2.17813288e-03 2.74343858e+01] [ 4.28535396e-03 -5.78170066e-05 9.99990816e-01 2.73522812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.93, Y:27.45, Z:0.27 [[ 8.55433040e-01 -5.17900273e-01 -3.69081561e-03 1.03925251e+02] [ 5.17895693e-01 8.55441001e-01 -2.17841258e-03 2.74480577e+01] [ 4.28547547e-03 -4.79714148e-05 9.99990816e-01 2.73681224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:103.95, Y:27.46, Z:0.27 [[ 8.56457147e-01 -5.16204935e-01 -3.69043824e-03 1.03948349e+02] [ 5.16200338e-01 8.56465097e-01 -2.17905169e-03 2.74613410e+01] [ 4.28556879e-03 -3.87410760e-05 9.99990816e-01 2.72734804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.97, Y:27.47, Z:0.27 [[ 8.57943974e-01 -5.13730006e-01 -3.69027403e-03 1.03973057e+02] [ 5.13725384e-01 8.57951910e-01 -2.17932975e-03 2.74747598e+01] [ 4.28566474e-03 -2.60446172e-05 9.99990816e-01 2.69486698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:104.00, Y:27.49, Z:0.27 [[ 8.58309567e-01 -5.13118963e-01 -3.69010007e-03 1.03997243e+02] [ 5.13114335e-01 8.58317499e-01 -2.17962427e-03 2.74887259e+01] [ 4.28568401e-03 -2.26508757e-05 9.99990816e-01 2.68765811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:104.02, Y:27.50, Z:0.27 [[ 8.58939679e-01 -5.12063487e-01 -3.68972595e-03 1.04020825e+02] [ 5.12058846e-01 8.58947603e-01 -2.18025740e-03 2.75010083e+01] [ 4.28571147e-03 -1.66472200e-05 9.99990816e-01 2.68719024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:104.04, Y:27.51, Z:0.27 [[ 8.59198188e-01 -5.11629613e-01 -3.68947034e-03 1.04044093e+02] [ 5.11624966e-01 8.59206110e-01 -2.18068987e-03 2.75138302e+01] [ 4.28572097e-03 -1.39803543e-05 9.99990816e-01 2.68817786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.978623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:104.07, Y:27.53, Z:0.27 [[ 8.59442130e-01 -5.11219732e-01 -3.68921767e-03 1.04068321e+02] [ 5.11215079e-01 8.59450048e-01 -2.18111724e-03 2.75280495e+01] [ 4.28572848e-03 -1.14396513e-05 9.99990816e-01 2.69576941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:104.09, Y:27.54, Z:0.27 [[ 8.60237057e-01 -5.09880965e-01 -3.68884863e-03 1.04090993e+02] [ 5.09876297e-01 8.60244966e-01 -2.18174121e-03 2.75424229e+01] [ 4.28574178e-03 -4.04184530e-06 9.99990816e-01 2.70114926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.038623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:104.12, Y:27.56, Z:0.28 [[ 8.60627085e-01 -5.09222363e-01 -3.68864388e-03 1.04115040e+02] [ 5.09217688e-01 8.60634989e-01 -2.18208732e-03 2.75575314e+01] [ 4.28574365e-03 -3.59262744e-07 9.99990816e-01 2.75400883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:104.14, Y:27.57, Z:0.27 [[ 8.60969903e-01 -5.08642529e-01 -3.68827905e-03 1.04139835e+02] [ 5.08637846e-01 8.60977803e-01 -2.18270381e-03 2.75720699e+01] [ 4.28574238e-03 3.24397751e-06 9.99990816e-01 2.73090476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.098623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:104.16, Y:27.59, Z:0.27 [[ 8.60889713e-01 -5.08778244e-01 -3.68794029e-03 1.04163250e+02] [ 5.08773560e-01 8.60897612e-01 -2.18327602e-03 2.75856568e+01] [ 4.28574233e-03 3.23335791e-06 9.99990816e-01 2.73349581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.19, Y:27.60, Z:0.27 [[ 8.60757719e-01 -5.09001523e-01 -3.68767550e-03 1.04187103e+02] [ 5.08996839e-01 8.60765618e-01 -2.18372317e-03 2.75996636e+01] [ 4.28574271e-03 2.64139958e-06 9.99990816e-01 2.74079754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.21, Y:27.61, Z:0.27 [[ 8.60110149e-01 -5.10095026e-01 -3.68728840e-03 1.04210248e+02] [ 5.10090349e-01 8.60118053e-01 -2.18437662e-03 2.76136444e+01] [ 4.28574296e-03 -2.04572438e-06 9.99990816e-01 2.73329782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18862385300001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:104.23, Y:27.63, Z:0.27 [[ 8.59515071e-01 -5.11097102e-01 -3.68711976e-03 1.04233630e+02] [ 5.11092433e-01 8.59522979e-01 -2.18466123e-03 2.76276165e+01] [ 4.28573819e-03 -6.70975457e-06 9.99990816e-01 2.73134638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21862385300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:104.26, Y:27.64, Z:0.28 [[ 8.58061692e-01 -5.13533386e-01 -3.68695200e-03 1.04257078e+02] [ 5.13528739e-01 8.58069613e-01 -2.18494431e-03 2.76404694e+01] [ 4.28570333e-03 -1.85387959e-05 9.99990816e-01 2.77281636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:104.28, Y:27.65, Z:0.27 [[ 8.57068267e-01 -5.15189667e-01 -3.68679552e-03 1.04281258e+02] [ 5.15185033e-01 8.57076196e-01 -2.18520832e-03 2.76540215e+01] [ 4.28566143e-03 -2.65091663e-05 9.99990816e-01 2.72422608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27862385300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:104.30, Y:27.67, Z:0.27 [[ 8.56273387e-01 -5.16509726e-01 -3.68641992e-03 1.04304572e+02] [ 5.16505102e-01 8.56281322e-01 -2.18584178e-03 2.76668443e+01] [ 4.28562106e-03 -3.23765494e-05 9.99990816e-01 2.71133127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:104.33, Y:27.68, Z:0.27 [[ 8.54948818e-01 -5.18699268e-01 -3.68622411e-03 1.04330233e+02] [ 5.18694663e-01 8.54956763e-01 -2.18617194e-03 2.76790235e+01] [ 4.28552802e-03 -4.29596606e-05 9.99990816e-01 2.72949322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:104.35, Y:27.69, Z:0.27 [[ 8.54490953e-01 -5.19453199e-01 -3.68580500e-03 1.04354197e+02] [ 5.19448597e-01 8.54498901e-01 -2.18687832e-03 2.76921155e+01] [ 4.28549726e-03 -4.59184938e-05 9.99990816e-01 2.70099035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368623853 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:104.38, Y:27.71, Z:0.27 [[ 8.54402898e-01 -5.19598021e-01 -3.68562331e-03 1.04379046e+02] [ 5.19593420e-01 8.54410846e-01 -2.18718449e-03 2.77050938e+01] [ 4.28549326e-03 -4.62888543e-05 9.99990816e-01 2.72538029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.398623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:104.40, Y:27.72, Z:0.27 [[ 8.54821068e-01 -5.18909782e-01 -3.68520389e-03 1.04402693e+02] [ 5.18905171e-01 8.54829010e-01 -2.18789093e-03 2.77173764e+01] [ 4.28553720e-03 -4.20160961e-05 9.99990816e-01 2.72479748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:104.43, Y:27.73, Z:0.27 [[ 8.55339394e-01 -5.18054960e-01 -3.68502130e-03 1.04427187e+02] [ 5.18050340e-01 8.55347331e-01 -2.18819842e-03 2.77300684e+01] [ 4.28558018e-03 -3.73742304e-05 9.99990816e-01 2.73060380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.458623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:104.45, Y:27.74, Z:0.27 [[ 8.55946398e-01 -5.17051436e-01 -3.68460447e-03 1.04451968e+02] [ 5.17046804e-01 8.55954328e-01 -2.18890008e-03 2.77438213e+01] [ 4.28562707e-03 -3.15318278e-05 9.99990816e-01 2.73335415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.47, Y:27.76, Z:0.27 [[ 8.57400693e-01 -5.14636259e-01 -3.68418032e-03 1.04474951e+02] [ 5.14631601e-01 8.57408608e-01 -2.18961375e-03 2.77575255e+01] [ 4.28570254e-03 -1.86192704e-05 9.99990816e-01 2.70027044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.50, Y:27.77, Z:0.27 [[ 8.58669252e-01 -5.12516872e-01 -3.68399640e-03 1.04498622e+02] [ 5.12512193e-01 8.58677155e-01 -2.18992315e-03 2.77715580e+01] [ 4.28573611e-03 -7.67340523e-06 9.99990816e-01 2.72367544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54862385300001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:104.52, Y:27.79, Z:0.27 [[ 8.59207777e-01 -5.11613553e-01 -3.68359045e-03 1.04522616e+02] [ 5.11608863e-01 8.59215673e-01 -2.19060576e-03 2.77854012e+01] [ 4.28574225e-03 -2.37201565e-06 9.99990816e-01 2.73298575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57862385300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:104.55, Y:27.80, Z:0.27 [[ 8.59841255e-01 -5.10548186e-01 -3.68317209e-03 1.04546845e+02] [ 5.10543484e-01 8.59849143e-01 -2.19130895e-03 2.77990126e+01] [ 4.28574118e-03 3.75833112e-06 9.99990816e-01 2.71255886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:104.57, Y:27.81, Z:0.27 [[ 8.61279638e-01 -5.08117919e-01 -3.68304214e-03 1.04571278e+02] [ 5.08113193e-01 8.61287513e-01 -2.19152735e-03 2.78133213e+01] [ 4.28571252e-03 1.61155797e-05 9.99990816e-01 2.72785920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63862385300001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:104.59, Y:27.83, Z:0.27 [[ 8.62043958e-01 -5.06820138e-01 -3.68263139e-03 1.04594747e+02] [ 5.06815397e-01 8.62051824e-01 -2.19221734e-03 2.78281550e+01] [ 4.28567900e-03 2.33734197e-05 9.99990816e-01 2.74348491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.62, Y:27.84, Z:0.27 [[ 8.62861656e-01 -5.05426755e-01 -3.68219844e-03 1.04617564e+02] [ 5.05421998e-01 8.62869512e-01 -2.19294432e-03 2.78423375e+01] [ 4.28562950e-03 3.11434739e-05 9.99990816e-01 2.73666954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69862385300002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:104.64, Y:27.86, Z:0.27 [[ 8.63690088e-01 -5.04009796e-01 -3.68190307e-03 1.04640316e+02] [ 5.04005025e-01 8.63697935e-01 -2.19344012e-03 2.78566917e+01] [ 4.28556739e-03 3.87548357e-05 9.99990816e-01 2.73753831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.728623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:104.66, Y:27.87, Z:0.27 [[ 8.63598234e-01 -5.04167170e-01 -3.68172935e-03 1.04664680e+02] [ 5.04162398e-01 8.63606081e-01 -2.19373167e-03 2.78714468e+01] [ 4.28557135e-03 3.83132989e-05 9.99990816e-01 2.73875901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.758623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.69, Y:27.89, Z:0.28 [[ 8.64993632e-01 -5.01769334e-01 -3.68132949e-03 1.04687846e+02] [ 5.01764538e-01 8.65001464e-01 -2.19440249e-03 2.78867291e+01] [ 4.28543927e-03 5.09835878e-05 9.99990816e-01 2.75214189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:104.71, Y:27.90, Z:0.28 [[ 8.65586710e-01 -5.00745540e-01 -3.68120535e-03 1.04711375e+02] [ 5.00740734e-01 8.65594536e-01 -2.19461071e-03 2.79017969e+01] [ 4.28537276e-03 5.62963992e-05 9.99990816e-01 2.75494366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.818623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:104.73, Y:27.92, Z:0.27 [[ 8.65597783e-01 -5.00726403e-01 -3.68079299e-03 1.04734639e+02] [ 5.00721594e-01 8.65605607e-01 -2.19530210e-03 2.79163302e+01] [ 4.28536077e-03 5.71960993e-05 9.99990816e-01 2.74647675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:104.76, Y:27.93, Z:0.27 [[ 8.65396833e-01 -5.01073622e-01 -3.68061343e-03 1.04757363e+02] [ 5.01068814e-01 8.65404658e-01 -2.19560311e-03 2.79307407e+01] [ 4.28537881e-03 5.58273688e-05 9.99990816e-01 2.73673720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:104.78, Y:27.95, Z:0.27 [[ 8.65142439e-01 -5.01512727e-01 -3.68043914e-03 1.04781179e+02] [ 5.01507922e-01 8.65150265e-01 -2.19589523e-03 2.79460485e+01] [ 4.28540230e-03 5.39927726e-05 9.99990816e-01 2.74200130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90862385300001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:104.80, Y:27.96, Z:0.28 [[ 8.64476243e-01 -5.02660207e-01 -3.68004089e-03 1.04804668e+02] [ 5.02655410e-01 8.64484074e-01 -2.19656244e-03 2.79615770e+01] [ 4.28546127e-03 4.90835770e-05 9.99990816e-01 2.75511971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93862385300001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:104.83, Y:27.98, Z:0.27 [[ 8.64092138e-01 -5.03320214e-01 -3.67961675e-03 1.04827975e+02] [ 5.03315420e-01 8.64099971e-01 -2.19727271e-03 2.79754483e+01] [ 4.28548850e-03 4.66382243e-05 9.99990816e-01 2.73663446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:104.85, Y:27.99, Z:0.28 [[ 8.63191209e-01 -5.04863742e-01 -3.67943226e-03 1.04852843e+02] [ 5.04858961e-01 8.63199050e-01 -2.19758162e-03 2.79904980e+01] [ 4.28556171e-03 3.93387896e-05 9.99990816e-01 2.77025686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:104.88, Y:28.01, Z:0.28 [[ 8.62666933e-01 -5.05759060e-01 -3.67906690e-03 1.04876427e+02] [ 5.05754284e-01 8.62674778e-01 -2.19819310e-03 2.80050148e+01] [ 4.28559430e-03 3.56046549e-05 9.99990816e-01 2.77261072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:104.90, Y:28.02, Z:0.28 [[ 8.62095906e-01 -5.06731798e-01 -3.67893764e-03 1.04900586e+02] [ 5.06727030e-01 8.62103755e-01 -2.19840941e-03 2.80195677e+01] [ 4.28562991e-03 3.10226089e-05 9.99990816e-01 2.78457877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:104.92, Y:28.03, Z:0.28 [[ 8.60840809e-01 -5.08861051e-01 -3.67854634e-03 1.04924003e+02] [ 5.08856300e-01 8.60848668e-01 -2.19906398e-03 2.80342343e+01] [ 4.28568973e-03 2.11925382e-05 9.99990816e-01 2.80390422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:104.95, Y:28.05, Z:0.28 [[ 8.60325350e-01 -5.09732051e-01 -3.67813179e-03 1.04947840e+02] [ 5.09727305e-01 8.60333212e-01 -2.19975713e-03 2.80494551e+01] [ 4.28570565e-03 1.76626154e-05 9.99990816e-01 2.80799564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.118623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.97, Y:28.06, Z:0.28 [[ 8.59663117e-01 -5.10848117e-01 -3.67771847e-03 1.04971251e+02] [ 5.10843378e-01 8.59670984e-01 -2.20044794e-03 2.80647045e+01] [ 4.28572254e-03 1.29058107e-05 9.99990816e-01 2.80696222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:104.99, Y:28.08, Z:0.28 [[ 8.58866086e-01 -5.12187000e-01 -3.67730545e-03 1.04994598e+02] [ 5.12182271e-01 8.58873958e-01 -2.20113794e-03 2.80796419e+01] [ 4.28573613e-03 7.03207393e-06 9.99990816e-01 2.80890013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.178623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:105.02, Y:28.09, Z:0.28 [[ 8.58620185e-01 -5.12599121e-01 -3.67688174e-03 1.05018039e+02] [ 5.12594392e-01 8.58628058e-01 -2.20184550e-03 2.80938367e+01] [ 4.28573789e-03 5.80002855e-06 9.99990816e-01 2.82218572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:105.04, Y:28.11, Z:0.28 [[ 8.57823369e-01 -5.13931463e-01 -3.67669799e-03 1.05041523e+02] [ 5.13926745e-01 8.57831248e-01 -2.20215229e-03 2.81085046e+01] [ 4.28574177e-03 -4.95731048e-07 9.99990816e-01 2.80386185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.238623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:105.06, Y:28.12, Z:0.28 [[ 8.57484359e-01 -5.14496899e-01 -3.67627556e-03 1.05064275e+02] [ 5.14492183e-01 8.57492240e-01 -2.20285726e-03 2.81223709e+01] [ 4.28574099e-03 -2.49939357e-06 9.99990816e-01 2.80651127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.09, Y:28.14, Z:0.28 [[ 8.57178002e-01 -5.15007145e-01 -3.67609228e-03 1.05087913e+02] [ 5.15002433e-01 8.57185884e-01 -2.20316308e-03 2.81373872e+01] [ 4.28573914e-03 -4.69353844e-06 9.99990816e-01 2.80792305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:105.11, Y:28.15, Z:0.28 [[ 8.57159549e-01 -5.15037860e-01 -3.67567689e-03 1.05111431e+02] [ 5.15033144e-01 8.57167430e-01 -2.20385588e-03 2.81528634e+01] [ 4.28573973e-03 -4.03931346e-06 9.99990816e-01 2.82759100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.13, Y:28.17, Z:0.28 [[ 8.57347955e-01 -5.14724175e-01 -3.67524375e-03 1.05133942e+02] [ 5.14719454e-01 8.57355833e-01 -2.20457796e-03 2.81672109e+01] [ 4.28574124e-03 -1.62904994e-06 9.99990816e-01 2.82746949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35862385300001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:105.16, Y:28.18, Z:0.28 [[ 8.58014249e-01 -5.13612737e-01 -3.67494883e-03 1.05157551e+02] [ 5.13608004e-01 8.58022119e-01 -2.20506948e-03 2.81823215e+01] [ 4.28573915e-03 4.49789835e-06 9.99990816e-01 2.82705355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.18, Y:28.20, Z:0.28 [[ 8.58449342e-01 -5.12885197e-01 -3.67452676e-03 1.05180758e+02] [ 5.12880454e-01 8.58457206e-01 -2.20577258e-03 2.81974280e+01] [ 4.28573209e-03 8.95106838e-06 9.99990816e-01 2.82579562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:105.20, Y:28.21, Z:0.28 [[ 8.59141957e-01 -5.11724143e-01 -3.67409703e-03 1.05203336e+02] [ 5.11719386e-01 8.59149813e-01 -2.20648815e-03 2.82119438e+01] [ 4.28571303e-03 1.55798756e-05 9.99990816e-01 2.80679295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:105.23, Y:28.23, Z:0.28 [[ 8.60798149e-01 -5.08933248e-01 -3.67380383e-03 1.05225901e+02] [ 5.08928463e-01 8.60805988e-01 -2.20697622e-03 2.82282766e+01] [ 4.28563591e-03 3.00577033e-05 9.99990816e-01 2.80333741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.478623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:105.25, Y:28.24, Z:0.28 [[ 8.61415554e-01 -5.07887537e-01 -3.67343641e-03 1.05248473e+02] [ 5.07882740e-01 8.61423385e-01 -2.20758761e-03 2.82441714e+01] [ 4.28559026e-03 3.59753500e-05 9.99990816e-01 2.81718274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:105.27, Y:28.26, Z:0.28 [[ 8.62200969e-01 -5.06553055e-01 -3.67301920e-03 1.05270507e+02] [ 5.06548243e-01 8.62208792e-01 -2.20828155e-03 2.82595200e+01] [ 4.28552121e-03 4.34210701e-05 9.99990816e-01 2.81283023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.538623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:105.29, Y:28.28, Z:0.28 [[ 8.62800688e-01 -5.05530892e-01 -3.67273483e-03 1.05293445e+02] [ 5.05526070e-01 8.62808504e-01 -2.20875440e-03 2.82759779e+01] [ 4.28546043e-03 4.90516127e-05 9.99990816e-01 2.81597272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:105.31, Y:28.29, Z:0.28 [[ 8.63838366e-01 -5.03755687e-01 -3.67231276e-03 1.05314683e+02] [ 5.03750845e-01 8.63846170e-01 -2.20945592e-03 2.82932101e+01] [ 4.28533930e-03 5.86821357e-05 9.99990816e-01 2.81808253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.598623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:105.34, Y:28.31, Z:0.28 [[ 8.64098806e-01 -5.03308821e-01 -3.67212986e-03 1.05337930e+02] [ 5.03303973e-01 8.64106606e-01 -2.20975986e-03 2.83092968e+01] [ 4.28530330e-03 6.12533105e-05 9.99990816e-01 2.81619740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:105.36, Y:28.33, Z:0.28 [[ 8.64337850e-01 -5.02898199e-01 -3.67170875e-03 1.05358647e+02] [ 5.02893346e-01 8.64345647e-01 -2.21045935e-03 2.83271059e+01] [ 4.28526150e-03 6.41057892e-05 9.99990816e-01 2.80594996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:105.38, Y:28.34, Z:0.28 [[ 8.64091132e-01 -5.03322000e-01 -3.67142129e-03 1.05381606e+02] [ 5.03317148e-01 8.64098929e-01 -2.21093669e-03 2.83434348e+01] [ 4.28528429e-03 6.25614920e-05 9.99990816e-01 2.81130876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.40, Y:28.36, Z:0.28 [[ 8.63389150e-01 -5.04525222e-01 -3.67099247e-03 1.05402490e+02] [ 5.04520377e-01 8.63396952e-01 -2.21164847e-03 2.83612740e+01] [ 4.28535615e-03 5.74227806e-05 9.99990816e-01 2.81222137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.43, Y:28.38, Z:0.28 [[ 8.62853988e-01 -5.05439928e-01 -3.67080585e-03 1.05425012e+02] [ 5.05435091e-01 8.62861794e-01 -2.21195817e-03 2.83787491e+01] [ 4.28541010e-03 5.32428428e-05 9.99990816e-01 2.82095953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.45, Y:28.40, Z:0.28 [[ 8.62211578e-01 -5.06535017e-01 -3.67038564e-03 1.05447016e+02] [ 5.06530187e-01 8.62219389e-01 -2.21265522e-03 2.83956901e+01] [ 4.28546501e-03 4.86158282e-05 9.99990816e-01 2.82604672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:105.47, Y:28.41, Z:0.28 [[ 8.60512605e-01 -5.09415929e-01 -3.66995989e-03 1.05468592e+02] [ 5.09411122e-01 8.60520430e-01 -2.21336116e-03 2.84131618e+01] [ 4.28559689e-03 3.51067891e-05 9.99990816e-01 2.83914751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:105.49, Y:28.43, Z:0.28 [[ 8.59440953e-01 -5.11221851e-01 -3.66982796e-03 1.05491056e+02] [ 5.11217059e-01 8.59448788e-01 -2.21357988e-03 2.84279910e+01] [ 4.28565959e-03 2.63625452e-05 9.99990816e-01 2.84417159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.51, Y:28.44, Z:0.29 [[ 8.56531208e-01 -5.16082187e-01 -3.66954702e-03 1.05513122e+02] [ 5.16077438e-01 8.56539069e-01 -2.21404551e-03 2.84447582e+01] [ 4.28573984e-03 2.62864870e-06 9.99990816e-01 2.85755378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.54, Y:28.46, Z:0.29 [[ 8.54946111e-01 -5.18703850e-01 -3.66913501e-03 1.05535785e+02] [ 5.18699122e-01 8.54953985e-01 -2.21472808e-03 2.84600804e+01] [ 4.28572958e-03 -9.70394490e-06 9.99990816e-01 2.85168128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.56, Y:28.48, Z:0.29 [[ 8.53052600e-01 -5.21812036e-01 -3.66895635e-03 1.05559275e+02] [ 5.21807335e-01 8.53060489e-01 -2.21502401e-03 2.84759223e+01] [ 4.28566789e-03 -2.49563447e-05 9.99990816e-01 2.85631707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:105.58, Y:28.49, Z:0.29 [[ 8.51394083e-01 -5.24513734e-01 -3.66853691e-03 1.05582080e+02] [ 5.24509056e-01 8.51401986e-01 -2.21571848e-03 2.84900950e+01] [ 4.28557438e-03 -3.77312311e-05 9.99990816e-01 2.88575434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.958623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:105.61, Y:28.51, Z:0.29 [[ 8.48014930e-01 -5.29959641e-01 -3.66835487e-03 1.05605526e+02] [ 5.29955012e-01 8.48022862e-01 -2.21601982e-03 2.85050792e+01] [ 4.28524987e-03 -6.48451502e-05 9.99990816e-01 2.89721025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:105.63, Y:28.52, Z:0.28 [[ 8.46343602e-01 -5.32624684e-01 -3.66793218e-03 1.05628256e+02] [ 5.32620076e-01 8.46351547e-01 -2.21671923e-03 2.85197530e+01] [ 4.28503945e-03 -7.75081797e-05 9.99990816e-01 2.82339590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:105.65, Y:28.53, Z:0.28 [[ 8.44249220e-01 -5.35938246e-01 -3.66764439e-03 1.05652561e+02] [ 5.35933668e-01 8.44257181e-01 -2.21719530e-03 2.85340266e+01] [ 4.28471487e-03 -9.37487090e-05 9.99990816e-01 2.82436420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:105.68, Y:28.55, Z:0.28 [[ 8.43539047e-01 -5.37055330e-01 -3.66721922e-03 1.05675880e+02] [ 5.37050759e-01 8.43547013e-01 -2.21789829e-03 2.85480728e+01] [ 4.28460592e-03 -9.85990547e-05 9.99990816e-01 2.82317873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:105.70, Y:28.56, Z:0.28 [[ 8.43154437e-01 -5.37658952e-01 -3.66703452e-03 1.05699614e+02] [ 5.37654386e-01 8.43162405e-01 -2.21820364e-03 2.85629095e+01] [ 4.28454269e-03 -1.01308952e-04 9.99990816e-01 2.83608606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:105.72, Y:28.58, Z:0.28 [[ 8.43070059e-01 -5.37791253e-01 -3.66663969e-03 1.05723452e+02] [ 5.37786685e-01 8.43078026e-01 -2.21885609e-03 2.85774810e+01] [ 4.28454475e-03 -1.01218873e-04 9.99990816e-01 2.84701925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.75, Y:28.59, Z:0.28 [[ 8.43304782e-01 -5.37423114e-01 -3.66622007e-03 1.05746559e+02] [ 5.37418540e-01 8.43312746e-01 -2.21954920e-03 2.85908041e+01] [ 4.28460716e-03 -9.85381812e-05 9.99990816e-01 2.84367002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:105.77, Y:28.61, Z:0.28 [[ 8.43553160e-01 -5.37033171e-01 -3.66603777e-03 1.05770952e+02] [ 5.37028592e-01 8.43561120e-01 -2.21985028e-03 2.86050316e+01] [ 4.28466016e-03 -9.62053856e-05 9.99990816e-01 2.84885738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.80, Y:28.62, Z:0.28 [[ 8.44526710e-01 -5.35500886e-01 -3.66562930e-03 1.05795301e+02] [ 5.35496290e-01 8.44534661e-01 -2.22052458e-03 2.86187732e+01] [ 4.28484387e-03 -8.76385743e-05 9.99990816e-01 2.84924787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.228623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.82, Y:28.63, Z:0.28 [[ 8.45070868e-01 -5.34641744e-01 -3.66520760e-03 1.05818473e+02] [ 5.34637136e-01 8.45078812e-01 -2.22122041e-03 2.86328721e+01] [ 4.28494644e-03 -8.24674366e-05 9.99990816e-01 2.84676133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.258623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:105.84, Y:28.65, Z:0.29 [[ 8.46294764e-01 -5.32702300e-01 -3.66502374e-03 1.05842373e+02] [ 5.32697672e-01 8.46302697e-01 -2.22152375e-03 2.86472393e+01] [ 4.28513028e-03 -7.22857011e-05 9.99990816e-01 2.85885339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:105.87, Y:28.66, Z:0.29 [[ 8.46926109e-01 -5.31697976e-01 -3.66460116e-03 1.05866804e+02] [ 5.31693336e-01 8.46934034e-01 -2.22222061e-03 2.86609210e+01] [ 4.28522564e-03 -6.63873563e-05 9.99990816e-01 2.86322131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.318623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.89, Y:28.67, Z:0.29 [[ 8.47706808e-01 -5.30452393e-01 -3.66416829e-03 1.05890526e+02] [ 5.30447739e-01 8.47714725e-01 -2.22293413e-03 2.86740785e+01] [ 4.28533014e-03 -5.92533913e-05 9.99990816e-01 2.86008693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:105.92, Y:28.69, Z:0.29 [[ 8.49509532e-01 -5.27560546e-01 -3.66397985e-03 1.05915079e+02] [ 5.27555863e-01 8.49517433e-01 -2.22324469e-03 2.86879789e+01] [ 4.28551093e-03 -4.42864957e-05 9.99990816e-01 2.85420232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.94, Y:28.70, Z:0.28 [[ 8.50411267e-01 -5.26105745e-01 -3.66355228e-03 1.05938359e+02] [ 5.26101046e-01 8.50419158e-01 -2.22394903e-03 2.87017264e+01] [ 4.28558740e-03 -3.61273712e-05 9.99990816e-01 2.83646623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.96, Y:28.72, Z:0.28 [[ 8.51219868e-01 -5.24796452e-01 -3.66336600e-03 1.05962041e+02] [ 5.24791739e-01 8.51227751e-01 -2.22425583e-03 2.87158093e+01] [ 4.28564037e-03 -2.91734581e-05 9.99990816e-01 2.83817573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.98, Y:28.73, Z:0.28 [[ 8.53191246e-01 -5.21585353e-01 -3.66293193e-03 1.05984740e+02] [ 5.21580608e-01 8.53199109e-01 -2.22497043e-03 2.87295058e+01] [ 4.28572225e-03 -1.21889689e-05 9.99990816e-01 2.83830811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.01, Y:28.74, Z:0.28 [[ 8.54096962e-01 -5.20100916e-01 -3.66274245e-03 1.06007827e+02] [ 5.20096156e-01 8.54104816e-01 -2.22528231e-03 2.87443728e+01] [ 4.28573734e-03 -4.37140721e-06 9.99990816e-01 2.84840901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.03, Y:28.76, Z:0.29 [[ 8.56355722e-01 -5.16373376e-01 -3.66255452e-03 1.06031824e+02] [ 5.16368580e-01 8.56363554e-01 -2.22559159e-03 2.87596012e+01] [ 4.28571444e-03 1.46700130e-05 9.99990816e-01 2.87067271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.05, Y:28.77, Z:0.29 [[ 8.57404433e-01 -5.14630184e-01 -3.66211580e-03 1.06054615e+02] [ 5.14625369e-01 8.57412254e-01 -2.22631324e-03 2.87732158e+01] [ 4.28567095e-03 2.42331505e-05 9.99990816e-01 2.87539211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:106.08, Y:28.79, Z:0.29 [[ 8.58130880e-01 -5.13417942e-01 -3.66192436e-03 1.06077488e+02] [ 5.13413115e-01 8.58138692e-01 -2.22662809e-03 2.87873067e+01] [ 4.28562979e-03 3.06583313e-05 9.99990816e-01 2.88183619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:28.80, Z:0.29 [[ 8.58733002e-01 -5.12410209e-01 -3.66173396e-03 1.06100276e+02] [ 5.12405372e-01 8.58740808e-01 -2.22694116e-03 2.88014446e+01] [ 4.28558777e-03 3.60557168e-05 9.99990816e-01 2.89537646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:28.82, Z:0.29 [[ 8.58636392e-01 -5.12572083e-01 -3.66154623e-03 1.06124505e+02] [ 5.12567245e-01 8.58644198e-01 -2.22724978e-03 2.88164063e+01] [ 4.28559148e-03 3.56090513e-05 9.99990816e-01 2.89659700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:28.83, Z:0.29 [[ 8.58596152e-01 -5.12639488e-01 -3.66112623e-03 1.06148826e+02] [ 5.12634648e-01 8.58603957e-01 -2.22793995e-03 2.88308704e+01] [ 4.28558747e-03 3.60805108e-05 9.99990816e-01 2.90469918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.17, Y:28.85, Z:0.29 [[ 8.58308342e-01 -5.13121223e-01 -3.66070452e-03 1.06172729e+02] [ 5.13116384e-01 8.58316148e-01 -2.22863265e-03 2.88450956e+01] [ 4.28560051e-03 3.44865298e-05 9.99990816e-01 2.90677348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.20, Y:28.86, Z:0.29 [[ 8.57474669e-01 -5.14513163e-01 -3.66028295e-03 1.06196433e+02] [ 5.14508334e-01 8.57482481e-01 -2.22932481e-03 2.88594885e+01] [ 4.28564547e-03 2.83434714e-05 9.99990816e-01 2.89747143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:28.87, Z:0.29 [[ 8.56862135e-01 -5.15532625e-01 -3.65985089e-03 1.06219490e+02] [ 5.15527803e-01 8.56869950e-01 -2.23003389e-03 2.88735809e+01] [ 4.28567148e-03 2.40767094e-05 9.99990816e-01 2.88284350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.24, Y:28.89, Z:0.29 [[ 8.55456660e-01 -5.17861478e-01 -3.65966341e-03 1.06243073e+02] [ 5.17856675e-01 8.55464488e-01 -2.23034153e-03 2.88858322e+01] [ 4.28572004e-03 1.27793849e-05 9.99990816e-01 2.85368995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.27, Y:28.90, Z:0.29 [[ 8.54842149e-01 -5.18875234e-01 -3.65947704e-03 1.06267356e+02] [ 5.18870440e-01 8.54849982e-01 -2.23064727e-03 2.88993287e+01] [ 4.28573151e-03 8.05684223e-06 9.99990816e-01 2.85264957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.29, Y:28.91, Z:0.29 [[ 8.54147718e-01 -5.20017583e-01 -3.65905761e-03 1.06291148e+02] [ 5.20012796e-01 8.54155555e-01 -2.23133508e-03 2.89133984e+01] [ 4.28573786e-03 3.13298623e-06 9.99990816e-01 2.85337479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:28.93, Z:0.29 [[ 8.53542526e-01 -5.21010337e-01 -3.65863931e-03 1.06314754e+02] [ 5.21005556e-01 8.53550367e-01 -2.23202074e-03 2.89275111e+01] [ 4.28573880e-03 -1.04679135e-06 9.99990816e-01 2.85826632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:28.94, Z:0.29 [[ 8.52360129e-01 -5.22942471e-01 -3.65821955e-03 1.06338331e+02] [ 5.22937705e-01 8.52367979e-01 -2.23270850e-03 2.89407217e+01] [ 4.28572731e-03 -9.94922713e-06 9.99990816e-01 2.87239214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.36, Y:28.95, Z:0.29 [[ 8.51812852e-01 -5.23833450e-01 -3.65803703e-03 1.06362781e+02] [ 5.23828691e-01 8.51820707e-01 -2.23300750e-03 2.89544715e+01] [ 4.28571571e-03 -1.40802634e-05 9.99990816e-01 2.87194882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:28.97, Z:0.29 [[ 8.50429672e-01 -5.26076036e-01 -3.65762200e-03 1.06387331e+02] [ 5.26071294e-01 8.50437537e-01 -2.23368711e-03 2.89678585e+01] [ 4.28566830e-03 -2.45761442e-05 9.99990816e-01 2.86412226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:28.98, Z:0.29 [[ 8.49887916e-01 -5.26950809e-01 -3.65720787e-03 1.06410561e+02] [ 5.26946072e-01 8.49895784e-01 -2.23436495e-03 2.89809980e+01] [ 4.28564597e-03 -2.81915553e-05 9.99990816e-01 2.86027563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:28.99, Z:0.29 [[ 8.49323702e-01 -5.27859712e-01 -3.65702843e-03 1.06435106e+02] [ 5.27854983e-01 8.49331575e-01 -2.23465860e-03 2.89948872e+01] [ 4.28561596e-03 -3.24321648e-05 9.99990816e-01 2.85429212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:29.01, Z:0.28 [[ 8.48459277e-01 -5.29248037e-01 -3.65661770e-03 1.06460703e+02] [ 5.29243318e-01 8.48467156e-01 -2.23533049e-03 2.90068341e+01] [ 4.28556429e-03 -3.86535869e-05 9.99990816e-01 2.84579628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.48, Y:29.02, Z:0.28 [[ 8.48015779e-01 -5.29958368e-01 -3.65618076e-03 1.06484330e+02] [ 5.29953652e-01 8.48023659e-01 -2.23604493e-03 2.90195177e+01] [ 4.28553851e-03 -4.14049645e-05 9.99990816e-01 2.84199964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.51, Y:29.03, Z:0.29 [[ 8.47529932e-01 -5.30735007e-01 -3.65599110e-03 1.06509118e+02] [ 5.30730297e-01 8.47537817e-01 -2.23635499e-03 2.90319241e+01] [ 4.28550259e-03 -4.49674461e-05 9.99990816e-01 2.85387723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:29.05, Z:0.29 [[ 8.47356644e-01 -5.31011633e-01 -3.65556439e-03 1.06533607e+02] [ 5.31006923e-01 8.47364528e-01 -2.23705227e-03 2.90463625e+01] [ 4.28549638e-03 -4.55488892e-05 9.99990816e-01 2.86028014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:29.06, Z:0.29 [[ 8.47577379e-01 -5.30659238e-01 -3.65513709e-03 1.06557677e+02] [ 5.30654521e-01 8.47585259e-01 -2.23775023e-03 2.90596749e+01] [ 4.28552315e-03 -4.29485508e-05 9.99990816e-01 2.85926022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:106.58, Y:29.07, Z:0.29 [[ 8.48645719e-01 -5.28949039e-01 -3.65495196e-03 1.06583061e+02] [ 5.28944305e-01 8.48653589e-01 -2.23805256e-03 2.90726586e+01] [ 4.28560385e-03 -3.39523027e-05 9.99990816e-01 2.93558689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.61, Y:29.09, Z:0.29 [[ 8.49413388e-01 -5.27715398e-01 -3.65453100e-03 1.06607386e+02] [ 5.27710650e-01 8.49421249e-01 -2.23873974e-03 2.90865035e+01] [ 4.28565372e-03 -2.69194166e-05 9.99990816e-01 2.87204283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.63, Y:29.10, Z:0.29 [[ 8.51776054e-01 -5.23893311e-01 -3.65411049e-03 1.06630842e+02] [ 5.23888525e-01 8.51783892e-01 -2.23942589e-03 2.90999796e+01] [ 4.28573270e-03 -6.85720040e-06 9.99990816e-01 2.86892892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.65, Y:29.11, Z:0.29 [[ 8.52947502e-01 -5.21983915e-01 -3.65392737e-03 1.06653990e+02] [ 5.21979110e-01 8.52955329e-01 -2.23972464e-03 2.91144365e+01] [ 4.28573706e-03 3.09377660e-06 9.99990816e-01 2.87388164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.68, Y:29.13, Z:0.29 [[ 8.54198387e-01 -5.19934386e-01 -3.65374633e-03 1.06677805e+02] [ 5.19929560e-01 8.54206201e-01 -2.24001994e-03 2.91299086e+01] [ 4.28571616e-03 1.37306945e-05 9.99990816e-01 2.87697182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.70, Y:29.15, Z:0.29 [[ 8.57033373e-01 -5.15247951e-01 -3.65331420e-03 1.06700341e+02] [ 5.15243080e-01 8.57041159e-01 -2.24072449e-03 2.91450919e+01] [ 4.28556934e-03 3.80308075e-05 9.99990816e-01 2.86670731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.72, Y:29.16, Z:0.29 [[ 8.58227183e-01 -5.13257009e-01 -3.65312582e-03 1.06723647e+02] [ 5.13252119e-01 8.58234956e-01 -2.24103158e-03 2.91603530e+01] [ 4.28546544e-03 4.83396502e-05 9.99990816e-01 2.86126539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.75, Y:29.18, Z:0.29 [[ 8.59451885e-01 -5.11203595e-01 -3.65269704e-03 1.06746098e+02] [ 5.11198683e-01 8.59459645e-01 -2.24173022e-03 2.91751138e+01] [ 4.28532625e-03 5.94053433e-05 9.99990816e-01 2.85081446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.77, Y:29.19, Z:0.28 [[ 8.61006275e-01 -5.08581217e-01 -3.65251047e-03 1.06768824e+02] [ 5.08576280e-01 8.61014019e-01 -2.24203416e-03 2.91917189e+01] [ 4.28511918e-03 7.28252958e-05 9.99990816e-01 2.83799065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.79, Y:29.21, Z:0.28 [[ 8.61366599e-01 -5.07970712e-01 -3.65210294e-03 1.06792082e+02] [ 5.07965767e-01 8.61374338e-01 -2.24269781e-03 2.92075033e+01] [ 4.28505255e-03 7.66417193e-05 9.99990816e-01 2.83898798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.82, Y:29.22, Z:0.28 [[ 8.61503724e-01 -5.07738119e-01 -3.65169853e-03 1.06815632e+02] [ 5.07733170e-01 8.61511460e-01 -2.24335610e-03 2.92234148e+01] [ 4.28501754e-03 7.85711616e-05 9.99990816e-01 2.84319104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.84, Y:29.24, Z:0.29 [[ 8.61134384e-01 -5.08364279e-01 -3.65129385e-03 1.06838429e+02] [ 5.08359332e-01 8.61142122e-01 -2.24401456e-03 2.92406840e+01] [ 4.28505978e-03 7.62287934e-05 9.99990816e-01 2.85355417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:29.26, Z:0.29 [[ 8.60766955e-01 -5.08986169e-01 -3.65087461e-03 1.06861536e+02] [ 5.08981225e-01 8.60774694e-01 -2.24469644e-03 2.92563777e+01] [ 4.28509992e-03 7.39338848e-05 9.99990816e-01 2.85834671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:106.88, Y:29.27, Z:0.29 [[ 8.59793294e-01 -5.10629186e-01 -3.65045456e-03 1.06884346e+02] [ 5.10624253e-01 8.59801041e-01 -2.24537934e-03 2.92732253e+01] [ 4.28522085e-03 6.65514653e-05 9.99990816e-01 2.86891550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:29.29, Z:0.29 [[ 8.59033444e-01 -5.11906456e-01 -3.65003349e-03 1.06907017e+02] [ 5.11901532e-01 8.59041196e-01 -2.24606361e-03 2.92888319e+01] [ 4.28530360e-03 6.09860209e-05 9.99990816e-01 2.86991785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.93, Y:29.30, Z:0.29 [[ 8.58418472e-01 -5.12937040e-01 -3.64960835e-03 1.06929274e+02] [ 5.12932122e-01 8.58426229e-01 -2.24675421e-03 2.93040850e+01] [ 4.28536298e-03 5.66539604e-05 9.99990816e-01 2.92651944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:29.32, Z:0.29 [[ 8.56924928e-01 -5.15428316e-01 -3.64942326e-03 1.06950861e+02] [ 5.15423420e-01 8.56932698e-01 -2.24705481e-03 2.93211966e+01] [ 4.28550580e-03 4.45590655e-05 9.99990816e-01 2.85937955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:29.34, Z:0.29 [[ 8.56039920e-01 -5.16896835e-01 -3.64923968e-03 1.06973948e+02] [ 5.16891951e-01 8.56047697e-01 -2.24735290e-03 2.93378118e+01] [ 4.28557283e-03 3.75611807e-05 9.99990816e-01 2.86215837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:29.35, Z:0.29 [[ 8.55034324e-01 -5.18558570e-01 -3.64881779e-03 1.06996592e+02] [ 5.18553698e-01 8.55042109e-01 -2.24803767e-03 2.93536008e+01] [ 4.28563206e-03 3.00414116e-05 9.99990816e-01 2.85979109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.02, Y:29.37, Z:0.29 [[ 8.52772766e-01 -5.22269374e-01 -3.64839674e-03 1.07019143e+02] [ 5.22264533e-01 8.52780570e-01 -2.24872080e-03 2.93691273e+01] [ 4.28571986e-03 1.22196348e-05 9.99990816e-01 2.85824598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:29.38, Z:0.29 [[ 8.51515282e-01 -5.24317094e-01 -3.64821324e-03 1.07041507e+02] [ 5.24312270e-01 8.51523097e-01 -2.24901846e-03 2.93834411e+01] [ 4.28573666e-03 2.27062011e-06 9.99990816e-01 2.86147239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:29.40, Z:0.29 [[ 8.49060572e-01 -5.28282914e-01 -3.64803118e-03 1.07064165e+02] [ 5.28278125e-01 8.49068409e-01 -2.24931374e-03 2.93992321e+01] [ 4.28570204e-03 -1.73714617e-05 9.99990816e-01 2.87767046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.09, Y:29.41, Z:0.29 [[ 8.47842275e-01 -5.30235958e-01 -3.64761739e-03 1.07087307e+02] [ 5.30231185e-01 8.47850121e-01 -2.24998457e-03 2.94142548e+01] [ 4.28565557e-03 -2.64484573e-05 9.99990816e-01 2.88378888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.11, Y:29.43, Z:0.29 [[ 8.46618116e-01 -5.32188373e-01 -3.64720672e-03 1.07110499e+02] [ 5.32183615e-01 8.46625971e-01 -2.25065006e-03 2.94291119e+01] [ 4.28558972e-03 -3.55425443e-05 9.99990816e-01 2.88875304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:29.44, Z:0.29 [[ 8.44412307e-01 -5.35681394e-01 -3.64679762e-03 1.07133609e+02] [ 5.35676666e-01 8.44420180e-01 -2.25131274e-03 2.94439361e+01] [ 4.28541585e-03 -5.24682019e-05 9.99990816e-01 2.88792040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.16, Y:29.46, Z:0.29 [[ 8.43546032e-01 -5.37044499e-01 -3.64662085e-03 1.07156710e+02] [ 5.37039782e-01 8.43553912e-01 -2.25159904e-03 2.94578328e+01] [ 4.28533016e-03 -5.90530295e-05 9.99990816e-01 2.88750737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.18, Y:29.47, Z:0.29 [[ 8.42355916e-01 -5.38909282e-01 -3.64644539e-03 1.07180865e+02] [ 5.38904582e-01 8.42363806e-01 -2.25188315e-03 2.94712602e+01] [ 4.28519435e-03 -6.81990400e-05 9.99990816e-01 2.88682857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:29.49, Z:0.29 [[ 8.42023968e-01 -5.39427793e-01 -3.64601408e-03 1.07204732e+02] [ 5.39423094e-01 8.42031859e-01 -2.25258127e-03 2.94856092e+01] [ 4.28516495e-03 -7.00167796e-05 9.99990816e-01 2.87923709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:29.50, Z:0.29 [[ 8.41975959e-01 -5.39502729e-01 -3.64557719e-03 1.07227456e+02] [ 5.39498028e-01 8.41983848e-01 -2.25328811e-03 2.94999582e+01] [ 4.28517220e-03 -6.95672826e-05 9.99990816e-01 2.86293400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.25, Y:29.51, Z:0.29 [[ 8.42356508e-01 -5.38908364e-01 -3.64538747e-03 1.07250682e+02] [ 5.38903656e-01 8.42364393e-01 -2.25359500e-03 2.95148818e+01] [ 4.28522580e-03 -6.61822145e-05 9.99990816e-01 2.87736272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.27, Y:29.53, Z:0.29 [[ 8.42792094e-01 -5.38226905e-01 -3.64496698e-03 1.07273340e+02] [ 5.38222188e-01 8.42799973e-01 -2.25427490e-03 2.95290330e+01] [ 4.28528947e-03 -6.19170421e-05 9.99990816e-01 2.90373337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.30, Y:29.54, Z:0.28 [[ 8.43064017e-01 -5.37800873e-01 -3.64478335e-03 1.07296728e+02] [ 5.37796150e-01 8.43071894e-01 -2.25457175e-03 2.95439690e+01] [ 4.28532506e-03 -5.94021409e-05 9.99990816e-01 2.83737379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:29.56, Z:0.28 [[ 8.43674705e-01 -5.36842352e-01 -3.64436431e-03 1.07320215e+02] [ 5.36837618e-01 8.43682574e-01 -2.25524889e-03 2.95583160e+01] [ 4.28539979e-03 -5.37354119e-05 9.99990816e-01 2.83168849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.34, Y:29.57, Z:0.28 [[ 8.43802360e-01 -5.36641686e-01 -3.64394484e-03 1.07343735e+02] [ 5.36636947e-01 8.43810226e-01 -2.25592645e-03 2.95731026e+01] [ 4.28542210e-03 -5.19193706e-05 9.99990816e-01 2.84260588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.37, Y:29.59, Z:0.28 [[ 8.43860049e-01 -5.36550970e-01 -3.64351146e-03 1.07367162e+02] [ 5.36546226e-01 8.43867913e-01 -2.25662618e-03 2.95874757e+01] [ 4.28543738e-03 -5.06356439e-05 9.99990816e-01 2.84017370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.39, Y:29.60, Z:0.28 [[ 8.43756870e-01 -5.36713210e-01 -3.64332410e-03 1.07391005e+02] [ 5.36708467e-01 8.43764735e-01 -2.25692863e-03 2.96019754e+01] [ 4.28543181e-03 -5.11038560e-05 9.99990816e-01 2.84472747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.41, Y:29.62, Z:0.28 [[ 8.43923229e-01 -5.36451594e-01 -3.64289269e-03 1.07414638e+02] [ 5.36446846e-01 8.43931090e-01 -2.25762477e-03 2.96153762e+01] [ 4.28545680e-03 -4.89563093e-05 9.99990816e-01 2.83314976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:107.44, Y:29.63, Z:0.28 [[ 8.43852178e-01 -5.36563354e-01 -3.64270444e-03 1.07438644e+02] [ 5.36558606e-01 8.43860038e-01 -2.25792847e-03 2.96294138e+01] [ 4.28545438e-03 -4.91665594e-05 9.99990816e-01 2.82445650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.46, Y:29.64, Z:0.28 [[ 8.44395459e-01 -5.35707983e-01 -3.64228933e-03 1.07462685e+02] [ 5.35703224e-01 8.44403313e-01 -2.25859788e-03 2.96431111e+01] [ 4.28551009e-03 -4.40363390e-05 9.99990816e-01 2.82573508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.49, Y:29.66, Z:0.28 [[ 8.45042951e-01 -5.34686028e-01 -3.64187578e-03 1.07486570e+02] [ 5.34681256e-01 8.45050798e-01 -2.25926451e-03 2.96579907e+01] [ 4.28556720e-03 -3.80671638e-05 9.99990816e-01 2.83193289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:29.67, Z:0.28 [[ 8.46663411e-01 -5.32116348e-01 -3.64145573e-03 1.07509812e+02] [ 5.32111549e-01 8.46671242e-01 -2.25994134e-03 2.96729731e+01] [ 4.28566758e-03 -2.42510058e-05 9.99990816e-01 2.82898454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.53, Y:29.69, Z:0.28 [[ 8.47504396e-01 -5.30775887e-01 -3.64106168e-03 1.07532410e+02] [ 5.30771073e-01 8.47512217e-01 -2.26057603e-03 2.96879358e+01] [ 4.28570350e-03 -1.67220967e-05 9.99990816e-01 2.83012141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.56, Y:29.70, Z:0.29 [[ 8.49168483e-01 -5.28109488e-01 -3.64087798e-03 1.07555267e+02] [ 5.28104649e-01 8.49176288e-01 -2.26087185e-03 2.97034448e+01] [ 4.28573513e-03 -2.90346713e-06 9.99990816e-01 2.85565446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.478623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:107.58, Y:29.72, Z:0.29 [[ 8.49764452e-01 -5.27149999e-01 -3.64075279e-03 1.07578599e+02] [ 5.27145150e-01 8.49772251e-01 -2.26107344e-03 2.97183981e+01] [ 4.28573556e-03 2.17465258e-06 9.99990816e-01 2.86383236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:107.60, Y:29.73, Z:0.29 [[ 8.49667538e-01 -5.27306195e-01 -3.64033793e-03 1.07602684e+02] [ 5.27301345e-01 8.49675336e-01 -2.26174117e-03 2.97335917e+01] [ 4.28573548e-03 2.17296243e-06 9.99990816e-01 2.86505307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.538623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.63, Y:29.75, Z:0.29 [[ 8.50246922e-01 -5.26371468e-01 -3.63992206e-03 1.07625070e+02] [ 5.26366606e-01 8.50254713e-01 -2.26241026e-03 2.97479235e+01] [ 4.28572909e-03 7.67393907e-06 9.99990816e-01 2.86280991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.65, Y:29.76, Z:0.29 [[ 8.50504889e-01 -5.25954548e-01 -3.63974130e-03 1.07648339e+02] [ 5.25949681e-01 8.50512677e-01 -2.26270101e-03 2.97632984e+01] [ 4.28572401e-03 1.01174938e-05 9.99990816e-01 2.86812827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.598623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.67, Y:29.78, Z:0.29 [[ 8.50981447e-01 -5.25183142e-01 -3.63932568e-03 1.07670380e+02] [ 5.25178265e-01 8.50989228e-01 -2.26336930e-03 2.97788850e+01] [ 4.28571035e-03 1.47905290e-05 9.99990816e-01 2.86523511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.69, Y:29.79, Z:0.29 [[ 8.51112170e-01 -5.24971267e-01 -3.63914460e-03 1.07692894e+02] [ 5.24966387e-01 8.51119949e-01 -2.26366042e-03 2.97935874e+01] [ 4.28570524e-03 1.62003355e-05 9.99990816e-01 2.85353423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65862385300001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:107.72, Y:29.81, Z:0.28 [[ 8.51424940e-01 -5.24463850e-01 -3.63896552e-03 1.07716213e+02] [ 5.24458963e-01 8.51432716e-01 -2.26394825e-03 2.98087183e+01] [ 4.28569332e-03 1.90939181e-05 9.99990816e-01 2.83284238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.74, Y:29.82, Z:0.28 [[ 8.51326252e-01 -5.24624031e-01 -3.63855860e-03 1.07739224e+02] [ 5.24619143e-01 8.51334027e-01 -2.26460206e-03 2.98239698e+01] [ 4.28569341e-03 1.90576931e-05 9.99990816e-01 2.82599727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.76, Y:29.84, Z:0.28 [[ 8.51287396e-01 -5.24687081e-01 -3.63815351e-03 1.07762333e+02] [ 5.24682192e-01 8.51295170e-01 -2.26525266e-03 2.98394601e+01] [ 4.28569132e-03 1.95066798e-05 9.99990816e-01 2.82341775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.78, Y:29.86, Z:0.28 [[ 8.50971820e-01 -5.25198751e-01 -3.63774831e-03 1.07784206e+02] [ 5.25193863e-01 8.50979596e-01 -2.26590318e-03 2.98552234e+01] [ 4.28569911e-03 1.76966685e-05 9.99990816e-01 2.82080267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.81, Y:29.87, Z:0.28 [[ 8.50690661e-01 -5.25654038e-01 -3.63757210e-03 1.07807521e+02] [ 5.25649153e-01 8.50698438e-01 -2.26618603e-03 2.98709547e+01] [ 4.28570674e-03 1.57365930e-05 9.99990816e-01 2.82169150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:29.89, Z:0.28 [[ 8.50403539e-01 -5.26118420e-01 -3.63717112e-03 1.07830673e+02] [ 5.26113537e-01 8.50411317e-01 -2.26682940e-03 2.98867955e+01] [ 4.28571219e-03 1.41547836e-05 9.99990816e-01 2.82846990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:29.90, Z:0.28 [[ 8.49718859e-01 -5.27223515e-01 -3.63674830e-03 1.07852171e+02] [ 5.27218639e-01 8.49726641e-01 -2.26750754e-03 2.99038517e+01] [ 4.28572522e-03 9.38242874e-06 9.99990816e-01 2.83074389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.87, Y:29.92, Z:0.28 [[ 8.49574162e-01 -5.27456651e-01 -3.63656491e-03 1.07874539e+02] [ 5.27451776e-01 8.49581945e-01 -2.26780163e-03 2.99191640e+01] [ 4.28572694e-03 8.55305559e-06 9.99990816e-01 2.82366402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.898623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.90, Y:29.94, Z:0.28 [[ 8.49504217e-01 -5.27569297e-01 -3.63638283e-03 1.07896986e+02] [ 5.27564421e-01 8.49511999e-01 -2.26809355e-03 2.99366162e+01] [ 4.28572737e-03 8.32883073e-06 9.99990816e-01 2.83132446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.92, Y:29.95, Z:0.28 [[ 8.49603709e-01 -5.27409061e-01 -3.63596338e-03 1.07918875e+02] [ 5.27404181e-01 8.49611489e-01 -2.26876578e-03 2.99525047e+01] [ 4.28572389e-03 9.92953273e-06 9.99990816e-01 2.81507668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:29.97, Z:0.28 [[ 8.49689441e-01 -5.27270932e-01 -3.63578164e-03 1.07941413e+02] [ 5.27266050e-01 8.49697219e-01 -2.26905698e-03 2.99687736e+01] [ 4.28572134e-03 1.09695317e-05 9.99990816e-01 2.81165336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.96, Y:29.99, Z:0.28 [[ 8.49730253e-01 -5.27205160e-01 -3.63539058e-03 1.07962571e+02] [ 5.27200274e-01 8.49738030e-01 -2.26968335e-03 2.99870532e+01] [ 4.28571840e-03 1.20396982e-05 9.99990816e-01 2.81877462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.99, Y:30.00, Z:0.28 [[ 8.49485444e-01 -5.27599534e-01 -3.63496502e-03 1.07985033e+02] [ 5.27594649e-01 8.49493221e-01 -2.27036468e-03 3.00041426e+01] [ 4.28572149e-03 1.08536563e-05 9.99990816e-01 2.82777926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:108.01, Y:30.02, Z:0.28 [[ 8.49106836e-01 -5.28208644e-01 -3.63452825e-03 1.08007695e+02] [ 5.28203762e-01 8.49114614e-01 -2.27106368e-03 3.00208707e+01] [ 4.28572652e-03 8.60420294e-06 9.99990816e-01 2.82869229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:108.03, Y:30.04, Z:0.28 [[ 8.47523350e-01 -5.30745668e-01 -3.63409301e-03 1.08028235e+02] [ 5.30740806e-01 8.47531142e-01 -2.27175992e-03 3.00380908e+01] [ 4.28573374e-03 -3.39187275e-06 9.99990816e-01 2.83326987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.05, Y:30.05, Z:0.28 [[ 8.46397521e-01 -5.32539230e-01 -3.63390422e-03 1.08050257e+02] [ 5.32534383e-01 8.46405322e-01 -2.27206188e-03 3.00540203e+01] [ 4.28571795e-03 -1.21114006e-05 9.99990816e-01 2.83197019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13862385300001 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:108.07, Y:30.07, Z:0.29 [[ 8.44205458e-01 -5.36007408e-01 -3.63371793e-03 1.08072426e+02] [ 5.36002592e-01 8.44213278e-01 -2.27235976e-03 3.00711053e+01] [ 4.28563459e-03 -2.93437162e-05 9.99990816e-01 2.88736479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.09, Y:30.09, Z:0.28 [[ 8.43037546e-01 -5.37842445e-01 -3.63327549e-03 1.08094398e+02] [ 5.37837643e-01 8.43045374e-01 -2.27306696e-03 3.00861155e+01] [ 4.28556799e-03 -3.78315332e-05 9.99990816e-01 2.82423062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.12, Y:30.10, Z:0.28 [[ 8.41947279e-01 -5.39547570e-01 -3.63308345e-03 1.08117143e+02] [ 5.39542782e-01 8.41955116e-01 -2.27337386e-03 3.01014970e+01] [ 4.28548654e-03 -4.61430204e-05 9.99990816e-01 2.82494612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.14, Y:30.12, Z:0.28 [[ 8.40089144e-01 -5.42436202e-01 -3.63289718e-03 1.08138688e+02] [ 5.42431440e-01 8.40096997e-01 -2.27367149e-03 3.01178852e+01] [ 4.28530773e-03 -6.05109078e-05 9.99990816e-01 2.82867032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.258623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.16, Y:30.13, Z:0.28 [[ 8.39122746e-01 -5.43929978e-01 -3.63271295e-03 1.08161950e+02] [ 5.43925229e-01 8.39130606e-01 -2.27396579e-03 3.01340054e+01] [ 4.28519879e-03 -6.77878053e-05 9.99990816e-01 2.83691884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:108.18, Y:30.15, Z:0.28 [[ 8.37646677e-01 -5.46200376e-01 -3.63228086e-03 1.08184531e+02] [ 5.46195645e-01 8.37654549e-01 -2.27465577e-03 3.01511213e+01] [ 4.28501443e-03 -7.85781389e-05 9.99990816e-01 2.84471055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.318623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.21, Y:30.17, Z:0.28 [[ 8.37120739e-01 -5.47006104e-01 -3.63185169e-03 1.08207015e+02] [ 5.47001378e-01 8.37128613e-01 -2.27534082e-03 3.01674620e+01] [ 4.28495228e-03 -8.18928926e-05 9.99990816e-01 2.84935224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.23, Y:30.18, Z:0.29 [[ 8.36602027e-01 -5.47799106e-01 -3.63142333e-03 1.08229962e+02] [ 5.47794385e-01 8.36609904e-01 -2.27602427e-03 3.01838632e+01] [ 4.28488878e-03 -8.51467897e-05 9.99990816e-01 2.85876838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.25, Y:30.20, Z:0.29 [[ 8.36283826e-01 -5.48284760e-01 -3.63098960e-03 1.08252597e+02] [ 5.48280040e-01 8.36291704e-01 -2.27671600e-03 3.01992790e+01] [ 4.28485516e-03 -8.68183491e-05 9.99990816e-01 2.86413769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.28, Y:30.22, Z:0.29 [[ 8.35564429e-01 -5.49380472e-01 -3.63069450e-03 1.08276012e+02] [ 5.49375760e-01 8.35572312e-01 -2.27718650e-03 3.02151539e+01] [ 4.28474959e-03 -9.18795130e-05 9.99990816e-01 2.86294859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.30, Y:30.23, Z:0.29 [[ 8.35118182e-01 -5.50058581e-01 -3.63029431e-03 1.08298221e+02] [ 5.50053873e-01 8.35126067e-01 -2.27782431e-03 3.02301241e+01] [ 4.28469021e-03 -9.46049482e-05 9.99990816e-01 2.86061938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.32, Y:30.25, Z:0.29 [[ 8.34597730e-01 -5.50847939e-01 -3.63010777e-03 1.08320091e+02] [ 5.50843237e-01 8.34605619e-01 -2.27812155e-03 3.02451733e+01] [ 4.28460690e-03 -9.83052401e-05 9.99990816e-01 2.85447225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.34, Y:30.26, Z:0.29 [[ 8.34489675e-01 -5.51011620e-01 -3.62992336e-03 1.08343719e+02] [ 5.51006918e-01 8.34497564e-01 -2.27841534e-03 3.02607310e+01] [ 4.28459553e-03 -9.87988027e-05 9.99990816e-01 2.85935591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.37, Y:30.28, Z:0.29 [[ 8.34189997e-01 -5.51465208e-01 -3.62950071e-03 1.08366546e+02] [ 5.51460507e-01 8.34197887e-01 -2.27908842e-03 3.02762352e+01] [ 4.28455979e-03 -1.00333535e-04 9.99990816e-01 2.85759128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:108.39, Y:30.29, Z:0.29 [[ 8.33816643e-01 -5.52029560e-01 -3.62907987e-03 1.08389182e+02] [ 5.52024862e-01 8.33824534e-01 -2.27975835e-03 3.02916961e+01] [ 4.28450983e-03 -1.02441855e-04 9.99990816e-01 2.90473152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.41, Y:30.31, Z:0.29 [[ 8.33462628e-01 -5.52563914e-01 -3.62889667e-03 1.08412626e+02] [ 5.52559220e-01 8.33470522e-01 -2.28004992e-03 3.03066337e+01] [ 4.28445171e-03 -1.04843910e-04 9.99990816e-01 2.85528528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.618623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:108.44, Y:30.32, Z:0.29 [[ 8.32945063e-01 -5.53343796e-01 -3.62847846e-03 1.08435588e+02] [ 5.53339106e-01 8.32952959e-01 -2.28071526e-03 3.03218141e+01] [ 4.28437152e-03 -1.08068512e-04 9.99990816e-01 2.85810895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:108.46, Y:30.34, Z:0.29 [[ 8.32881110e-01 -5.53440054e-01 -3.62803944e-03 1.08458418e+02] [ 5.53435362e-01 8.32889005e-01 -2.28141342e-03 3.03364709e+01] [ 4.28437973e-03 -1.07739179e-04 9.99990816e-01 2.87846894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.678623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.48, Y:30.35, Z:0.29 [[ 8.32996416e-01 -5.53266491e-01 -3.62784893e-03 1.08481374e+02] [ 5.53261796e-01 8.33004309e-01 -2.28171633e-03 3.03503886e+01] [ 4.28441098e-03 -1.06488689e-04 9.99990816e-01 2.85222673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.51, Y:30.37, Z:0.29 [[ 8.33115417e-01 -5.53087282e-01 -3.62766428e-03 1.08505154e+02] [ 5.53082584e-01 8.33123309e-01 -2.28200986e-03 3.03652959e+01] [ 4.28444230e-03 -1.05220336e-04 9.99990816e-01 2.85560965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.738623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:108.53, Y:30.38, Z:0.28 [[ 8.33654637e-01 -5.52274198e-01 -3.62724711e-03 1.08528465e+02] [ 5.52269490e-01 8.33662522e-01 -2.28267276e-03 3.03797793e+01] [ 4.28456124e-03 -1.00257179e-04 9.99990816e-01 2.83625270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:108.55, Y:30.39, Z:0.28 [[ 8.33817678e-01 -5.52028010e-01 -3.62706648e-03 1.08551022e+02] [ 5.52023298e-01 8.33825561e-01 -2.28295973e-03 3.03945675e+01] [ 4.28459847e-03 -9.86530183e-05 9.99990816e-01 2.81718307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:108.57, Y:30.41, Z:0.28 [[ 8.34246715e-01 -5.51379420e-01 -3.62689089e-03 1.08574455e+02] [ 5.51374701e-01 8.34254593e-01 -2.28323867e-03 3.04094913e+01] [ 4.28468119e-03 -9.49915187e-05 9.99990816e-01 2.83188414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.60, Y:30.42, Z:0.28 [[ 8.34333474e-01 -5.51248132e-01 -3.62645736e-03 1.08597211e+02] [ 5.51243408e-01 8.34341350e-01 -2.28392703e-03 3.04239445e+01] [ 4.28471384e-03 -9.35039370e-05 9.99990816e-01 2.83154162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.62, Y:30.44, Z:0.28 [[ 8.34226176e-01 -5.51410499e-01 -3.62616253e-03 1.08620740e+02] [ 5.51405775e-01 8.34234052e-01 -2.28439503e-03 3.04386658e+01] [ 4.28470766e-03 -9.37848286e-05 9.99990816e-01 2.84187098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.64, Y:30.45, Z:0.28 [[ 8.33655910e-01 -5.52272286e-01 -3.62572003e-03 1.08643477e+02] [ 5.52267567e-01 8.33663789e-01 -2.28509714e-03 3.04524312e+01] [ 4.28462732e-03 -9.73828444e-05 9.99990816e-01 2.83422616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.67, Y:30.47, Z:0.28 [[ 8.33099469e-01 -5.53111319e-01 -3.62541892e-03 1.08666490e+02] [ 5.53106606e-01 8.33107351e-01 -2.28557477e-03 3.04663628e+01] [ 4.28454043e-03 -1.01132027e-04 9.99990816e-01 2.82748492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.69, Y:30.48, Z:0.28 [[ 8.32288647e-01 -5.54330646e-01 -3.62523231e-03 1.08690642e+02] [ 5.54325944e-01 8.32296535e-01 -2.28587072e-03 3.04809138e+01] [ 4.28439648e-03 -1.07056074e-04 9.99990816e-01 2.82855685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.71, Y:30.49, Z:0.28 [[ 8.31772912e-01 -5.55104211e-01 -3.62479717e-03 1.08714234e+02] [ 5.55099512e-01 8.31780802e-01 -2.28656053e-03 3.04944967e+01] [ 4.28431607e-03 -1.10224033e-04 9.99990816e-01 2.82288918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:30.51, Z:0.28 [[ 8.30695072e-01 -5.56715870e-01 -3.62460704e-03 1.08738899e+02] [ 5.56711185e-01 8.30702971e-01 -2.28686188e-03 3.05071037e+01] [ 4.28410414e-03 -1.18174390e-04 9.99990816e-01 2.82531719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.76, Y:30.52, Z:0.28 [[ 8.30342418e-01 -5.57241719e-01 -3.62416958e-03 1.08762714e+02] [ 5.57237037e-01 8.30350319e-01 -2.28755495e-03 3.05201501e+01] [ 4.28405142e-03 -1.20067607e-04 9.99990816e-01 2.81582012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.79, Y:30.53, Z:0.28 [[ 8.29763614e-01 -5.58103226e-01 -3.62397919e-03 1.08787597e+02] [ 5.58098551e-01 8.29771519e-01 -2.28785652e-03 3.05320052e+01] [ 4.28393482e-03 -1.24157438e-04 9.99990816e-01 2.82577064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:30.55, Z:0.29 [[ 8.29534405e-01 -5.58443855e-01 -3.62384943e-03 1.08811611e+02] [ 5.58439181e-01 8.29542311e-01 -2.28806204e-03 3.05456621e+01] [ 4.28389061e-03 -1.25673330e-04 9.99990816e-01 2.85933511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.84, Y:30.56, Z:0.29 [[ 8.29551405e-01 -5.58418604e-01 -3.62341780e-03 1.08836361e+02] [ 5.58413927e-01 8.29559309e-01 -2.28874538e-03 3.05569449e+01] [ 4.28391796e-03 -1.24735019e-04 9.99990816e-01 2.85954319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15862385300002 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:108.86, Y:30.57, Z:0.29 [[ 8.29462347e-01 -5.58550882e-01 -3.62323054e-03 1.08860424e+02] [ 5.58546205e-01 8.29470251e-01 -2.28904177e-03 3.05698289e+01] [ 4.28390825e-03 -1.25067712e-04 9.99990816e-01 2.91034798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.89, Y:30.58, Z:0.28 [[ 8.29669508e-01 -5.58243120e-01 -3.62304877e-03 1.08885188e+02] [ 5.58238440e-01 8.29677409e-01 -2.28932945e-03 3.05821433e+01] [ 4.28396413e-03 -1.23138255e-04 9.99990816e-01 2.84702994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.218623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:108.91, Y:30.60, Z:0.29 [[ 8.29784401e-01 -5.58072329e-01 -3.62263460e-03 1.08909939e+02] [ 5.58067644e-01 8.29792300e-01 -2.28998464e-03 3.05950102e+01] [ 4.28401136e-03 -1.21481617e-04 9.99990816e-01 2.85728220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:108.94, Y:30.61, Z:0.29 [[ 8.30409459e-01 -5.57141822e-01 -3.62220200e-03 1.08936252e+02] [ 5.57137125e-01 8.30417351e-01 -2.29066871e-03 3.06052108e+01] [ 4.28416672e-03 -1.15870244e-04 9.99990816e-01 2.85353844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:108.96, Y:30.62, Z:0.29 [[ 8.30587895e-01 -5.56875776e-01 -3.62206821e-03 1.08961606e+02] [ 5.56871075e-01 8.30595785e-01 -2.29088023e-03 3.06182065e+01] [ 4.28421029e-03 -1.14247636e-04 9.99990816e-01 2.86326584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:108.99, Y:30.63, Z:0.29 [[ 8.31437691e-01 -5.55606200e-01 -3.62163158e-03 1.08987178e+02] [ 5.55601485e-01 8.31445572e-01 -2.29157029e-03 3.06291229e+01] [ 4.28440020e-03 -1.06885968e-04 9.99990816e-01 2.86271203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.01, Y:30.64, Z:0.29 [[ 8.31900518e-01 -5.54912980e-01 -3.62133431e-03 1.09010765e+02] [ 5.54908255e-01 8.31908393e-01 -2.29203996e-03 3.06417262e+01] [ 4.28450113e-03 -1.02759076e-04 9.99990816e-01 2.85941592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.04, Y:30.65, Z:0.29 [[ 8.32341267e-01 -5.54251660e-01 -3.62104504e-03 1.09035692e+02] [ 5.54246928e-01 8.32349138e-01 -2.29249687e-03 3.06545226e+01] [ 4.28459392e-03 -9.88133409e-05 9.99990816e-01 2.85707762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.06, Y:30.67, Z:0.28 [[ 8.33605076e-01 -5.52349047e-01 -3.62061218e-03 1.09060700e+02] [ 5.52344293e-01 8.33612934e-01 -2.29318030e-03 3.06650313e+01] [ 4.28482509e-03 -8.82177432e-05 9.99990816e-01 2.84633401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.09, Y:30.68, Z:0.29 [[ 8.34271373e-01 -5.51342153e-01 -3.62042383e-03 1.09085079e+02] [ 5.51337389e-01 8.34279224e-01 -2.29347762e-03 3.06787549e+01] [ 4.28493527e-03 -8.26922956e-05 9.99990816e-01 2.85754450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.458623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.11, Y:30.69, Z:0.29 [[ 8.34165517e-01 -5.51502299e-01 -3.61998382e-03 1.09109037e+02] [ 5.51497533e-01 8.34173368e-01 -2.29417191e-03 3.06941470e+01] [ 4.28493518e-03 -8.26930474e-05 9.99990816e-01 2.85876519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:109.13, Y:30.71, Z:0.29 [[ 8.35029858e-01 -5.50192725e-01 -3.61954328e-03 1.09132488e+02] [ 5.50187944e-01 8.35037700e-01 -2.29486675e-03 3.07067788e+01] [ 4.28507409e-03 -7.51468154e-05 9.99990816e-01 2.86058290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.518623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:109.16, Y:30.72, Z:0.29 [[ 8.36802284e-01 -5.47493230e-01 -3.61935182e-03 1.09157608e+02] [ 5.47488423e-01 8.36810109e-01 -2.29516868e-03 3.07176638e+01] [ 4.28529950e-03 -6.09508252e-05 9.99990816e-01 2.86834883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.548623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.18, Y:30.73, Z:0.29 [[ 8.37621133e-01 -5.46239637e-01 -3.61891588e-03 1.09182053e+02] [ 5.46234815e-01 8.37628949e-01 -2.29585584e-03 3.07310914e+01] [ 4.28539616e-03 -5.37204746e-05 9.99990816e-01 2.87320591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.578623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.21, Y:30.74, Z:0.29 [[ 8.38373209e-01 -5.45084644e-01 -3.61847361e-03 1.09205725e+02] [ 5.45079808e-01 8.38381017e-01 -2.29655268e-03 3.07443211e+01] [ 4.28547518e-03 -4.69886609e-05 9.99990816e-01 2.86195583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.608623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.23, Y:30.76, Z:0.29 [[ 8.39750119e-01 -5.42961000e-01 -3.61803535e-03 1.09231193e+02] [ 5.42956141e-01 8.39757913e-01 -2.29724292e-03 3.07563035e+01] [ 4.28558712e-03 -3.53244975e-05 9.99990816e-01 2.87599168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.638623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:109.25, Y:30.77, Z:0.29 [[ 8.40246864e-01 -5.42191959e-01 -3.61759870e-03 1.09254606e+02] [ 5.42187090e-01 8.40254651e-01 -2.29793034e-03 3.07694938e+01] [ 4.28562348e-03 -3.05865472e-05 9.99990816e-01 2.88360367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.668623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.28, Y:30.78, Z:0.29 [[ 8.41129583e-01 -5.40821541e-01 -3.61740973e-03 1.09279208e+02] [ 5.40816658e-01 8.41137361e-01 -2.29822777e-03 3.07825988e+01] [ 4.28566956e-03 -2.32480791e-05 9.99990816e-01 2.89880611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.30, Y:30.80, Z:0.29 [[ 8.41501861e-01 -5.40242108e-01 -3.61696448e-03 1.09302659e+02] [ 5.40237216e-01 8.41509634e-01 -2.29892830e-03 3.07961994e+01] [ 4.28568832e-03 -1.94663768e-05 9.99990816e-01 2.89949553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.33, Y:30.81, Z:0.29 [[ 8.41876815e-01 -5.39657621e-01 -3.61677050e-03 1.09326394e+02] [ 5.39652723e-01 8.41884583e-01 -2.29923343e-03 3.08100896e+01] [ 4.28570217e-03 -1.61287365e-05 9.99990816e-01 2.89518265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.35, Y:30.82, Z:0.29 [[ 8.42320488e-01 -5.38964855e-01 -3.61657832e-03 1.09349507e+02] [ 5.38959950e-01 8.42328252e-01 -2.29953567e-03 3.08232050e+01] [ 4.28571501e-03 -1.22448631e-05 9.99990816e-01 2.89193657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.37, Y:30.84, Z:0.29 [[ 8.43338081e-01 -5.37371197e-01 -3.61639101e-03 1.09373550e+02] [ 5.37366276e-01 8.43345835e-01 -2.29983021e-03 3.08365979e+01] [ 4.28573081e-03 -3.79217322e-06 9.99990816e-01 2.88299250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.40, Y:30.85, Z:0.29 [[ 8.43840562e-01 -5.36581801e-01 -3.61609913e-03 1.09397312e+02] [ 5.36576871e-01 8.43848310e-01 -2.30028906e-03 3.08506057e+01] [ 4.28573239e-03 7.62055657e-07 9.99990816e-01 2.87581014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.42, Y:30.86, Z:0.29 [[ 8.44450276e-01 -5.35621749e-01 -3.61567492e-03 1.09421022e+02] [ 5.35616807e-01 8.44458017e-01 -2.30095566e-03 3.08646673e+01] [ 4.28572756e-03 6.42638883e-06 9.99990816e-01 2.87407203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87862385300002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:109.44, Y:30.88, Z:0.29 [[ 8.45539599e-01 -5.33900475e-01 -3.61524816e-03 1.09444950e+02] [ 5.33895514e-01 8.45547327e-01 -2.30162599e-03 3.08785893e+01] [ 4.28570262e-03 1.59511428e-05 9.99990816e-01 2.88151085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:109.47, Y:30.89, Z:0.29 [[ 8.46103336e-01 -5.33006640e-01 -3.61480794e-03 1.09467395e+02] [ 5.33001668e-01 8.46111057e-01 -2.30231715e-03 3.08927102e+01] [ 4.28567930e-03 2.12995577e-05 9.99990816e-01 2.88241679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.49, Y:30.91, Z:0.29 [[ 8.47025007e-01 -5.31540753e-01 -3.61461720e-03 1.09491020e+02] [ 5.31535766e-01 8.47032719e-01 -2.30261659e-03 3.09068284e+01] [ 4.28563359e-03 2.90755077e-05 9.99990816e-01 2.89874657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.51, Y:30.92, Z:0.29 [[ 8.47629436e-01 -5.30576363e-01 -3.61416818e-03 1.09514113e+02] [ 5.30571364e-01 8.47637141e-01 -2.30332114e-03 3.09205336e+01] [ 4.28559094e-03 3.47886524e-05 9.99990816e-01 2.90733957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.998623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:109.54, Y:30.93, Z:0.29 [[ 8.48227092e-01 -5.29620373e-01 -3.61397258e-03 1.09537004e+02] [ 5.29615365e-01 8.48234790e-01 -2.30362801e-03 3.09349430e+01] [ 4.28554559e-03 3.99842793e-05 9.99990816e-01 2.91551050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:30.95, Z:0.29 [[ 8.49679806e-01 -5.27286609e-01 -3.61378207e-03 1.09559728e+02] [ 5.27281578e-01 8.49687489e-01 -2.30392683e-03 3.09504436e+01] [ 4.28541518e-03 5.21193897e-05 9.99990816e-01 2.92354681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.058623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:109.58, Y:30.97, Z:0.29 [[ 8.50332906e-01 -5.26232736e-01 -3.61335195e-03 1.09583071e+02] [ 5.26227692e-01 8.50340582e-01 -2.30460121e-03 3.09666560e+01] [ 4.28533639e-03 5.82323843e-05 9.99990816e-01 2.92803603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.61, Y:30.98, Z:0.29 [[ 8.51082197e-01 -5.25020039e-01 -3.61289567e-03 1.09605249e+02] [ 5.25014982e-01 8.51089862e-01 -2.30531628e-03 3.09817934e+01] [ 4.28523613e-03 6.51892862e-05 9.99990816e-01 2.92887037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.118623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.63, Y:31.00, Z:0.29 [[ 8.51988518e-01 -5.23548005e-01 -3.61269725e-03 1.09628569e+02] [ 5.23542933e-01 8.51996174e-01 -2.30562719e-03 3.09979528e+01] [ 4.28511075e-03 7.29657732e-05 9.99990816e-01 2.92833839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.65, Y:31.01, Z:0.29 [[ 8.52079262e-01 -5.23400308e-01 -3.61224308e-03 1.09652153e+02] [ 5.23395232e-01 8.52086916e-01 -2.30633852e-03 3.10138022e+01] [ 4.28508336e-03 7.45524260e-05 9.99990816e-01 2.92624301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.67, Y:31.03, Z:0.29 [[ 8.52136244e-01 -5.23307536e-01 -3.61178954e-03 1.09674132e+02] [ 5.23302456e-01 8.52143895e-01 -2.30704856e-03 3.10301626e+01] [ 4.28506030e-03 7.58613587e-05 9.99990816e-01 2.90590728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.70, Y:31.05, Z:0.29 [[ 8.51980344e-01 -5.23561314e-01 -3.61159245e-03 1.09696383e+02] [ 5.23556235e-01 8.51987996e-01 -2.30735705e-03 3.10462838e+01] [ 4.28507631e-03 7.49511117e-05 9.99990816e-01 2.89201316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:109.72, Y:31.06, Z:0.29 [[ 8.51567039e-01 -5.24233285e-01 -3.61129314e-03 1.09718834e+02] [ 5.24228210e-01 8.51574693e-01 -2.30782542e-03 3.10626351e+01] [ 4.28512475e-03 7.21263198e-05 9.99990816e-01 2.87883531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.74, Y:31.08, Z:0.29 [[ 8.50626846e-01 -5.25757482e-01 -3.61086012e-03 1.09740544e+02] [ 5.25752418e-01 8.50634508e-01 -2.30850273e-03 3.10796129e+01] [ 4.28523480e-03 6.52559581e-05 9.99990816e-01 2.86631807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.298623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.76, Y:31.10, Z:0.29 [[ 8.49973178e-01 -5.26813591e-01 -3.61067669e-03 1.09763795e+02] [ 5.26808536e-01 8.49980845e-01 -2.30878960e-03 3.10960959e+01] [ 4.28530776e-03 6.02739345e-05 9.99990816e-01 2.87022331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.328623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:109.79, Y:31.11, Z:0.29 [[ 8.49133751e-01 -5.28165542e-01 -3.61024847e-03 1.09786335e+02] [ 5.28160495e-01 8.49141424e-01 -2.30945900e-03 3.11122932e+01] [ 4.28538819e-03 5.42489620e-05 9.99990816e-01 2.86641001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.81, Y:31.13, Z:0.29 [[ 8.47150716e-01 -5.31340412e-01 -3.60982212e-03 1.09808580e+02] [ 5.31335392e-01 8.47158406e-01 -2.31012522e-03 3.11295212e+01] [ 4.28555404e-03 3.89979787e-05 9.99990816e-01 2.88331908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.388623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:109.83, Y:31.15, Z:0.29 [[ 8.46009640e-01 -5.33155382e-01 -3.60938167e-03 1.09830919e+02] [ 5.33150375e-01 8.46017339e-01 -2.31081318e-03 3.11459446e+01] [ 4.28562196e-03 3.06270308e-05 9.99990816e-01 2.88594972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:31.16, Z:0.29 [[ 8.43024768e-01 -5.37862635e-01 -3.60923227e-03 1.09853406e+02] [ 5.37857670e-01 8.43032494e-01 -2.31104650e-03 3.11630809e+01] [ 4.28572565e-03 7.01618051e-06 9.99990816e-01 2.91703615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.88, Y:31.18, Z:0.29 [[ 8.41189002e-01 -5.40729174e-01 -3.60879483e-03 1.09875795e+02] [ 5.40724232e-01 8.41196743e-01 -2.31172938e-03 3.11780574e+01] [ 4.28572598e-03 -6.76148539e-06 9.99990816e-01 2.92294871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.90, Y:31.19, Z:0.29 [[ 8.39185242e-01 -5.43833714e-01 -3.60860513e-03 1.09899125e+02] [ 5.43828799e-01 8.39193000e-01 -2.31202547e-03 3.11936023e+01] [ 4.28567356e-03 -2.22457403e-05 9.99990816e-01 2.93194323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:109.92, Y:31.21, Z:0.29 [[ 8.36975193e-01 -5.47228935e-01 -3.60817364e-03 1.09922661e+02] [ 5.47224049e-01 8.36982970e-01 -2.31269866e-03 3.12090771e+01] [ 4.28555551e-03 -3.88079819e-05 9.99990816e-01 2.93985836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.95, Y:31.22, Z:0.29 [[ 8.32328365e-01 -5.54271122e-01 -3.60774265e-03 1.09946130e+02] [ 5.54266300e-01 8.32336180e-01 -2.31337079e-03 3.12227516e+01] [ 4.28508937e-03 -7.41660425e-05 9.99990816e-01 2.92525818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:109.97, Y:31.24, Z:0.29 [[ 8.29939408e-01 -5.57841881e-01 -3.60755561e-03 1.09970334e+02] [ 5.57837091e-01 8.29947244e-01 -2.31366244e-03 3.12371291e+01] [ 4.28473864e-03 -9.22286894e-05 9.99990816e-01 2.92266483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:109.99, Y:31.25, Z:0.29 [[ 8.25525168e-01 -5.64353777e-01 -3.60713161e-03 1.09994569e+02] [ 5.64349045e-01 8.25533039e-01 -2.31432329e-03 3.12491251e+01] [ 4.28390341e-03 -1.25149162e-04 9.99990816e-01 2.92520697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.02, Y:31.26, Z:0.29 [[ 8.23488955e-01 -5.67320836e-01 -3.60694779e-03 1.10018299e+02] [ 5.67316132e-01 8.23496842e-01 -2.31460975e-03 3.12622796e+01] [ 4.28343645e-03 -1.40224100e-04 9.99990816e-01 2.92844434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.04, Y:31.28, Z:0.29 [[ 8.21639435e-01 -5.69996167e-01 -3.60676681e-03 1.10042912e+02] [ 5.69991487e-01 8.21647337e-01 -2.31489173e-03 3.12759902e+01] [ 4.28296975e-03 -1.53820047e-04 9.99990816e-01 2.92725664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.07, Y:31.29, Z:0.29 [[ 8.18873923e-01 -5.73962100e-01 -3.60635385e-03 1.10068087e+02] [ 5.73957455e-01 8.18881846e-01 -2.31553489e-03 3.12873781e+01] [ 4.28220697e-03 -1.73762544e-04 9.99990816e-01 2.91249880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.718623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.09, Y:31.30, Z:0.29 [[ 8.17939425e-01 -5.75293049e-01 -3.60614336e-03 1.10093156e+02] [ 5.75288416e-01 8.17947355e-01 -2.31586265e-03 3.13006037e+01] [ 4.28193511e-03 -1.80337135e-04 9.99990816e-01 2.89437193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.12, Y:31.31, Z:0.29 [[ 8.17506729e-01 -5.75907759e-01 -3.60573457e-03 1.10117865e+02] [ 5.75903129e-01 8.17514661e-01 -2.31649896e-03 3.13137866e+01] [ 4.28183060e-03 -1.82800335e-04 9.99990816e-01 2.88670211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.14, Y:31.33, Z:0.29 [[ 8.17428972e-01 -5.76018122e-01 -3.60532865e-03 1.10142828e+02] [ 5.76013491e-01 8.17436902e-01 -2.31713054e-03 3.13272545e+01] [ 4.28183787e-03 -1.82628308e-04 9.99990816e-01 2.89155222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:110.17, Y:31.34, Z:0.29 [[ 8.18646923e-01 -5.74285835e-01 -3.60492263e-03 1.10168352e+02] [ 5.74281184e-01 8.18654842e-01 -2.31776205e-03 3.13384700e+01] [ 4.28224528e-03 -1.72810460e-04 9.99990816e-01 2.91118553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.838623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.19, Y:31.35, Z:0.29 [[ 8.19474337e-01 -5.73104544e-01 -3.60449382e-03 1.10192176e+02] [ 5.73099879e-01 8.19482247e-01 -2.31842873e-03 3.13509608e+01] [ 4.28252073e-03 -1.65842129e-04 9.99990816e-01 2.90112059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:110.22, Y:31.36, Z:0.29 [[ 8.21675998e-01 -5.69943474e-01 -3.60430745e-03 1.10218242e+02] [ 5.69938777e-01 8.21683889e-01 -2.31871842e-03 3.13618317e+01] [ 4.28313980e-03 -1.48999314e-04 9.99990816e-01 2.91371826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.898623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:110.24, Y:31.37, Z:0.29 [[ 8.22919722e-01 -5.68146234e-01 -3.60390087e-03 1.10242918e+02] [ 5.68141517e-01 8.22927601e-01 -2.31935019e-03 3.13749495e+01] [ 4.28347957e-03 -1.38886693e-04 9.99990816e-01 2.91517149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:110.27, Y:31.39, Z:0.29 [[ 8.24298060e-01 -5.66144613e-01 -3.60346639e-03 1.10267252e+02] [ 5.66139874e-01 8.24305927e-01 -2.32002502e-03 3.13881552e+01] [ 4.28382837e-03 -1.27673890e-04 9.99990816e-01 2.92702074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.29, Y:31.40, Z:0.29 [[ 8.27196248e-01 -5.61901580e-01 -3.60301249e-03 1.10292162e+02] [ 5.61896797e-01 8.27204088e-01 -2.32072972e-03 3.13993139e+01] [ 4.28444836e-03 -1.04822259e-04 9.99990816e-01 2.92654828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.32, Y:31.41, Z:0.29 [[ 8.28621793e-01 -5.59797235e-01 -3.60270386e-03 1.10315942e+02] [ 5.59792431e-01 8.28629620e-01 -2.32120874e-03 3.14114907e+01] [ 4.28471336e-03 -9.33622001e-05 9.99990816e-01 2.92521986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.34, Y:31.42, Z:0.29 [[ 8.31144967e-01 -5.56044123e-01 -3.60251048e-03 1.10342646e+02] [ 5.56039281e-01 8.31152771e-01 -2.32150882e-03 3.14226041e+01] [ 4.28509790e-03 -7.36269692e-05 9.99990816e-01 2.93961168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:31.44, Z:0.29 [[ 8.32273336e-01 -5.54353785e-01 -3.60205805e-03 1.10366601e+02] [ 5.54348925e-01 8.32281128e-01 -2.32221060e-03 3.14355049e+01] [ 4.28525118e-03 -6.40830513e-05 9.99990816e-01 2.93830247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.078623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.39, Y:31.45, Z:0.29 [[ 8.33323274e-01 -5.52774229e-01 -3.60174845e-03 1.10391436e+02] [ 5.52769352e-01 8.33331056e-01 -2.32269070e-03 3.14491022e+01] [ 4.28537240e-03 -5.53839381e-05 9.99990816e-01 2.94582433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.42, Y:31.46, Z:0.29 [[ 8.34391309e-01 -5.51160752e-01 -3.60129005e-03 1.10415561e+02] [ 5.51155857e-01 8.34399079e-01 -2.32340121e-03 3.14617480e+01] [ 4.28548066e-03 -4.62463231e-05 9.99990816e-01 2.94031486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.44, Y:31.47, Z:0.29 [[ 8.36750637e-01 -5.47572282e-01 -3.60109058e-03 1.10440208e+02] [ 5.47567352e-01 8.36758385e-01 -2.32371034e-03 3.14728944e+01] [ 4.28564211e-03 -2.74735242e-05 9.99990816e-01 2.94489197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:110.46, Y:31.49, Z:0.29 [[ 8.37956282e-01 -5.45725484e-01 -3.60089898e-03 1.10463974e+02] [ 5.45720536e-01 8.37964018e-01 -2.32400721e-03 3.14868223e+01] [ 4.28569374e-03 -1.76680774e-05 9.99990816e-01 2.94962659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:31.50, Z:0.30 [[ 8.39295368e-01 -5.43663795e-01 -3.60046114e-03 1.10487808e+02] [ 5.43658825e-01 8.39303091e-01 -2.32468534e-03 3.15013430e+01] [ 4.28572541e-03 -6.32483528e-06 9.99990816e-01 2.95830236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.51, Y:31.51, Z:0.30 [[ 8.41936261e-01 -5.39564985e-01 -3.60000935e-03 1.10511745e+02] [ 5.39559974e-01 8.41943957e-01 -2.32538476e-03 3.15147331e+01] [ 4.28570231e-03 1.54047986e-05 9.99990816e-01 2.96178584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.54, Y:31.53, Z:0.30 [[ 8.43006196e-01 -5.37891807e-01 -3.59970062e-03 1.10535967e+02] [ 5.37886779e-01 8.43013881e-01 -2.32586258e-03 3.15292211e+01] [ 4.28566002e-03 2.44851930e-05 9.99990816e-01 2.96436415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.56, Y:31.54, Z:0.30 [[ 8.43983514e-01 -5.36357040e-01 -3.59925677e-03 1.10559509e+02] [ 5.36351995e-01 8.43991188e-01 -2.32654924e-03 3.15433007e+01] [ 4.28560206e-03 3.31006534e-05 9.99990816e-01 2.95896500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.58, Y:31.56, Z:0.30 [[ 8.45364977e-01 -5.34177033e-01 -3.59906436e-03 1.10582407e+02] [ 5.34171967e-01 8.45372637e-01 -2.32684684e-03 3.15573198e+01] [ 4.28549867e-03 4.45155400e-05 9.99990816e-01 2.95767721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.61, Y:31.57, Z:0.30 [[ 8.45265622e-01 -5.34334238e-01 -3.59876497e-03 1.10606225e+02] [ 5.34329171e-01 8.45273281e-01 -2.32730979e-03 3.15729539e+01] [ 4.28550118e-03 4.42698550e-05 9.99990816e-01 2.95889800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.63, Y:31.59, Z:0.30 [[ 8.45530839e-01 -5.33914462e-01 -3.59833203e-03 1.10629848e+02] [ 5.33909389e-01 8.45538494e-01 -2.32797898e-03 3.15885421e+01] [ 4.28546990e-03 4.71947628e-05 9.99990816e-01 2.96906186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.65, Y:31.60, Z:0.30 [[ 8.45732747e-01 -5.33594580e-01 -3.59789534e-03 1.10652596e+02] [ 5.33589501e-01 8.45740399e-01 -2.32865370e-03 3.16036343e+01] [ 4.28544243e-03 4.96195121e-05 9.99990816e-01 2.97856097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.438623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.68, Y:31.62, Z:0.30 [[ 8.45458438e-01 -5.34029107e-01 -3.59759741e-03 1.10676265e+02] [ 5.34024030e-01 8.45466091e-01 -2.32911388e-03 3.16192760e+01] [ 4.28546123e-03 4.79655173e-05 9.99990816e-01 2.98513738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:110.70, Y:31.63, Z:0.30 [[ 8.45044105e-01 -5.34684506e-01 -3.59714068e-03 1.10699087e+02] [ 5.34679432e-01 8.45051760e-01 -2.32981905e-03 3.16337156e+01] [ 4.28548821e-03 4.54827220e-05 9.99990816e-01 2.98222691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.498623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:110.72, Y:31.65, Z:0.30 [[ 8.44215067e-01 -5.35992523e-01 -3.59683110e-03 1.10722672e+02] [ 5.35987458e-01 8.44222728e-01 -2.33029689e-03 3.16480798e+01] [ 4.28554828e-03 3.94153855e-05 9.99990816e-01 2.97797698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.75, Y:31.66, Z:0.30 [[ 8.41886322e-01 -5.39642925e-01 -3.59637457e-03 1.10746428e+02] [ 5.39637891e-01 8.41894003e-01 -2.33100125e-03 3.16616769e+01] [ 4.28567452e-03 2.16980838e-05 9.99990816e-01 2.97359584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.77, Y:31.68, Z:0.30 [[ 8.38944630e-01 -5.44204902e-01 -3.59617575e-03 1.10769998e+02] [ 5.44199908e-01 8.38952338e-01 -2.33130795e-03 3.16757717e+01] [ 4.28572926e-03 -1.20023032e-06 9.99990816e-01 2.96704065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.79, Y:31.69, Z:0.30 [[ 8.37086108e-01 -5.47059336e-01 -3.59598501e-03 1.10793421e+02] [ 5.47054368e-01 8.37093831e-01 -2.33160211e-03 3.16904617e+01] [ 4.28570158e-03 -1.54475720e-05 9.99990816e-01 2.96395479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.618623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:110.82, Y:31.70, Z:0.30 [[ 8.35094902e-01 -5.50094152e-01 -3.59554095e-03 1.10817309e+02] [ 5.50089209e-01 8.35102642e-01 -2.33228670e-03 3.17047275e+01] [ 4.28562302e-03 -3.01875458e-05 9.99990816e-01 2.96485101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:110.84, Y:31.72, Z:0.30 [[ 8.33081602e-01 -5.53138427e-01 -3.59508750e-03 1.10840792e+02] [ 5.53133509e-01 8.33089358e-01 -2.33298546e-03 3.17184568e+01] [ 4.28549304e-03 -4.49960987e-05 9.99990816e-01 2.95827253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.87, Y:31.73, Z:0.29 [[ 8.29070690e-01 -5.59132246e-01 -3.59489071e-03 1.10866515e+02] [ 5.59127383e-01 8.29078480e-01 -2.33328865e-03 3.17300157e+01] [ 4.28506345e-03 -7.55405985e-05 9.99990816e-01 2.94542425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.89, Y:31.74, Z:0.30 [[ 8.27251384e-01 -5.61820459e-01 -3.59445252e-03 1.10891286e+02] [ 5.61815618e-01 8.27259188e-01 -2.33396349e-03 3.17438014e+01] [ 4.28481231e-03 -8.86450349e-05 9.99990816e-01 2.95249517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.738623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:110.92, Y:31.76, Z:0.30 [[ 8.24585920e-01 -5.65725325e-01 -3.59401255e-03 1.10915262e+02] [ 5.65720518e-01 8.24593746e-01 -2.33464079e-03 3.17556010e+01] [ 4.28436569e-03 -1.08094719e-04 9.99990816e-01 2.95372828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:110.94, Y:31.77, Z:0.30 [[ 8.23517755e-01 -5.67279113e-01 -3.59376969e-03 1.10939425e+02] [ 5.67274319e-01 8.23525588e-01 -2.33501457e-03 3.17704343e+01] [ 4.28416629e-03 -1.15727300e-04 9.99990816e-01 3.01926690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.798623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:110.96, Y:31.78, Z:0.30 [[ 8.22770706e-01 -5.68362079e-01 -3.59333585e-03 1.10964087e+02] [ 5.68357293e-01 8.22778544e-01 -2.33568202e-03 3.17844164e+01] [ 4.28403273e-03 -1.20567891e-04 9.99990816e-01 3.00498859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.99, Y:31.80, Z:0.30 [[ 8.21940728e-01 -5.69561701e-01 -3.59288353e-03 1.10988866e+02] [ 5.69556923e-01 8.21948571e-01 -2.33637760e-03 3.17961321e+01] [ 4.28387668e-03 -1.25987785e-04 9.99990816e-01 2.97127437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.01, Y:31.81, Z:0.30 [[ 8.21725425e-01 -5.69872283e-01 -3.59257566e-03 1.11013586e+02] [ 5.69867506e-01 8.21733269e-01 -2.33685090e-03 3.18102761e+01] [ 4.28384550e-03 -1.27042334e-04 9.99990816e-01 2.98388720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.888623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:111.04, Y:31.82, Z:0.30 [[ 8.21611684e-01 -5.70036259e-01 -3.59212561e-03 1.11037208e+02] [ 5.70031480e-01 8.21619527e-01 -2.33754249e-03 3.18235150e+01] [ 4.28384452e-03 -1.27072454e-04 9.99990816e-01 2.98834125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.06, Y:31.84, Z:0.30 [[ 8.21903265e-01 -5.69615766e-01 -3.59188015e-03 1.11062657e+02] [ 5.69610982e-01 8.21911104e-01 -2.33791961e-03 3.18356341e+01] [ 4.28392205e-03 -1.24430613e-04 9.99990816e-01 2.98465356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.09, Y:31.85, Z:0.30 [[ 8.22214715e-01 -5.69166113e-01 -3.59143817e-03 1.11085900e+02] [ 5.69161322e-01 8.22222549e-01 -2.33859837e-03 3.18496572e+01] [ 4.28401239e-03 -1.21277705e-04 9.99990816e-01 2.97855722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.11, Y:31.86, Z:0.30 [[ 8.23265348e-01 -5.67645374e-01 -3.59120198e-03 1.11110742e+02] [ 5.67640566e-01 8.23273173e-01 -2.33896101e-03 3.18630313e+01] [ 4.28424065e-03 -1.12926379e-04 9.99990816e-01 2.97510149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.13, Y:31.88, Z:0.30 [[ 8.23973635e-01 -5.66616763e-01 -3.59076971e-03 1.11134539e+02] [ 5.66611943e-01 8.23981452e-01 -2.33962445e-03 3.18769107e+01] [ 4.28439807e-03 -1.06784138e-04 9.99990816e-01 2.98051462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:31.89, Z:0.30 [[ 8.24697273e-01 -5.65563009e-01 -3.59033914e-03 1.11158592e+02] [ 5.65558176e-01 8.24705082e-01 -2.34028500e-03 3.18914065e+01] [ 4.28454956e-03 -1.00518993e-04 9.99990816e-01 2.98558283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:31.90, Z:0.30 [[ 8.26671545e-01 -5.62673324e-01 -3.58989956e-03 1.11182965e+02] [ 5.62668461e-01 8.26679335e-01 -2.34095910e-03 3.19047598e+01] [ 4.28489102e-03 -8.47189891e-05 9.99990816e-01 2.99737323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.21, Y:31.92, Z:0.30 [[ 8.27708060e-01 -5.61147470e-01 -3.58945475e-03 1.11206827e+02] [ 5.61142589e-01 8.27715840e-01 -2.34164094e-03 3.19193974e+01] [ 4.28505444e-03 -7.60008489e-05 9.99990816e-01 3.00004491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.23, Y:31.93, Z:0.30 [[ 8.28817529e-01 -5.59507483e-01 -3.58900558e-03 1.11229846e+02] [ 5.59502584e-01 8.28825297e-01 -2.34232918e-03 3.19333087e+01] [ 4.28520932e-03 -6.66944190e-05 9.99990816e-01 2.99641676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.25, Y:31.95, Z:0.30 [[ 8.29954390e-01 -5.57819712e-01 -3.58876214e-03 1.11254090e+02] [ 5.57814796e-01 8.29962147e-01 -2.34270210e-03 3.19478859e+01] [ 4.28534214e-03 -5.75287309e-05 9.99990816e-01 3.00061041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.28, Y:31.96, Z:0.30 [[ 8.32137552e-01 -5.54557678e-01 -3.58830686e-03 1.11277267e+02] [ 5.54552728e-01 8.32145288e-01 -2.34339925e-03 3.19617327e+01] [ 4.28554269e-03 -3.98748394e-05 9.99990816e-01 2.98753238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:31.98, Z:0.30 [[ 8.33323755e-01 -5.52773594e-01 -3.58799651e-03 1.11300702e+02] [ 5.52768625e-01 8.33331479e-01 -2.34387432e-03 3.19778047e+01] [ 4.28562227e-03 -3.01257484e-05 9.99990816e-01 2.98882367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.32, Y:31.99, Z:0.30 [[ 8.35980245e-01 -5.48747811e-01 -3.58755565e-03 1.11322944e+02] [ 5.48742802e-01 8.35987943e-01 -2.34454891e-03 3.19933989e+01] [ 4.28571935e-03 -8.64876618e-06 9.99990816e-01 2.98332824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.278623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:111.35, Y:32.01, Z:0.30 [[ 8.36918995e-01 -5.47315016e-01 -3.58731707e-03 1.11346293e+02] [ 5.47309992e-01 8.36926684e-01 -2.34491391e-03 3.20089559e+01] [ 4.28572797e-03 -8.71479551e-07 9.99990816e-01 2.98840018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.37, Y:32.02, Z:0.30 [[ 8.37739369e-01 -5.46058499e-01 -3.58687983e-03 1.11369895e+02] [ 5.46053461e-01 8.37747048e-01 -2.34558253e-03 3.20244858e+01] [ 4.28572327e-03 6.35868463e-06 9.99990816e-01 2.99329934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.338623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.39, Y:32.04, Z:0.30 [[ 8.38983704e-01 -5.44144725e-01 -3.58644201e-03 1.11392448e+02] [ 5.44139667e-01 8.38991370e-01 -2.34625178e-03 3.20404260e+01] [ 4.28569442e-03 1.69416457e-05 9.99990816e-01 2.99581566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.42, Y:32.06, Z:0.30 [[ 8.39492952e-01 -5.43358744e-01 -3.58599449e-03 1.11415701e+02] [ 5.43353676e-01 8.39500610e-01 -2.34693556e-03 3.20566951e+01] [ 4.28567253e-03 2.17725716e-05 9.99990816e-01 3.03100004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.44, Y:32.07, Z:0.30 [[ 8.40003427e-01 -5.42569246e-01 -3.58554799e-03 1.11438104e+02] [ 5.42564167e-01 8.40011079e-01 -2.34761751e-03 3.20721375e+01] [ 4.28564510e-03 2.66168925e-05 9.99990816e-01 3.01597888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.46, Y:32.09, Z:0.30 [[ 8.39974626e-01 -5.42613835e-01 -3.58529478e-03 1.11461000e+02] [ 5.42608755e-01 8.39982277e-01 -2.34800415e-03 3.20881304e+01] [ 4.28564361e-03 2.68515694e-05 9.99990816e-01 3.02251595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.48, Y:32.10, Z:0.30 [[ 8.39875285e-01 -5.42767588e-01 -3.58485408e-03 1.11483713e+02] [ 5.42762507e-01 8.39882935e-01 -2.34867681e-03 3.21048951e+01] [ 4.28564341e-03 2.68712130e-05 9.99990816e-01 3.02570813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.51, Y:32.12, Z:0.30 [[ 8.39794520e-01 -5.42892546e-01 -3.58439559e-03 1.11505109e+02] [ 5.42887463e-01 8.39802169e-01 -2.34937632e-03 3.21219519e+01] [ 4.28564208e-03 2.70699370e-05 9.99990816e-01 3.00790969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.53, Y:32.14, Z:0.30 [[ 8.39644883e-01 -5.43123950e-01 -3.58408393e-03 1.11527114e+02] [ 5.43118867e-01 8.39652532e-01 -2.34985167e-03 3.21376854e+01] [ 4.28564587e-03 2.64573261e-05 9.99990816e-01 2.99817711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.548623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.55, Y:32.15, Z:0.30 [[ 8.39422980e-01 -5.43466850e-01 -3.58384870e-03 1.11549217e+02] [ 5.43461769e-01 8.39430630e-01 -2.35021038e-03 3.21545686e+01] [ 4.28565380e-03 2.51358498e-05 9.99990816e-01 3.01332477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.578623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.57, Y:32.17, Z:0.30 [[ 8.39434506e-01 -5.43449050e-01 -3.58341611e-03 1.11571763e+02] [ 5.43443966e-01 8.39442154e-01 -2.35086977e-03 3.21710525e+01] [ 4.28564848e-03 2.60153388e-05 9.99990816e-01 3.02838143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.59, Y:32.19, Z:0.30 [[ 8.39490165e-01 -5.43363069e-01 -3.58296284e-03 1.11593788e+02] [ 5.43357981e-01 8.39497811e-01 -2.35156040e-03 3.21875290e+01] [ 4.28564053e-03 2.72803778e-05 9.99990816e-01 3.02728530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.638623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:111.62, Y:32.20, Z:0.30 [[ 8.39427780e-01 -5.43459443e-01 -3.58276593e-03 1.11615993e+02] [ 5.43454355e-01 8.39435425e-01 -2.35186037e-03 3.22042464e+01] [ 4.28564136e-03 2.71471797e-05 9.99990816e-01 3.04502452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.668623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.64, Y:32.22, Z:0.30 [[ 8.39324024e-01 -5.43619673e-01 -3.58232726e-03 1.11636306e+02] [ 5.43614584e-01 8.39331669e-01 -2.35252836e-03 3.22223079e+01] [ 4.28564141e-03 2.71282284e-05 9.99990816e-01 3.04904806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.66, Y:32.24, Z:0.31 [[ 8.39026182e-01 -5.44079254e-01 -3.58208037e-03 1.11658305e+02] [ 5.44074167e-01 8.39033828e-01 -2.35290422e-03 3.22398093e+01] [ 4.28565298e-03 2.52308491e-05 9.99990816e-01 3.05470924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.68, Y:32.26, Z:0.30 [[ 8.38378561e-01 -5.45076656e-01 -3.58163192e-03 1.11678508e+02] [ 5.45071575e-01 8.38386211e-01 -2.35358666e-03 3.22577509e+01] [ 4.28567596e-03 2.09508460e-05 9.99990816e-01 3.04224020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.70, Y:32.27, Z:0.30 [[ 8.37917637e-01 -5.45784946e-01 -3.58143668e-03 1.11700905e+02] [ 5.45779871e-01 8.37925290e-01 -2.35388372e-03 3.22742809e+01] [ 4.28569067e-03 1.76846339e-05 9.99990816e-01 3.03441913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:32.29, Z:0.30 [[ 8.37496914e-01 -5.46430321e-01 -3.58103061e-03 1.11723093e+02] [ 5.46425248e-01 8.37504570e-01 -2.35450132e-03 3.22904037e+01] [ 4.28570041e-03 1.51220538e-05 9.99990816e-01 3.01662503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.74, Y:32.31, Z:0.30 [[ 8.36691817e-01 -5.47662287e-01 -3.58081514e-03 1.11743619e+02] [ 5.47657225e-01 8.36699480e-01 -2.35482896e-03 3.23087821e+01] [ 4.28571718e-03 9.20684240e-06 9.99990816e-01 2.99348480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:32.33, Z:0.30 [[ 8.35825731e-01 -5.48983176e-01 -3.58046651e-03 1.11764394e+02] [ 5.48978123e-01 8.35833400e-01 -2.35535894e-03 3.23274432e+01] [ 4.28572593e-03 3.07182543e-06 9.99990816e-01 3.00699485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.79, Y:32.34, Z:0.30 [[ 8.35309625e-01 -5.49768146e-01 -3.58002750e-03 1.11786534e+02] [ 5.49763098e-01 8.35317296e-01 -2.35602602e-03 3.23442927e+01] [ 4.28572695e-03 -1.55801696e-07 9.99990816e-01 3.01342815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.81, Y:32.36, Z:0.30 [[ 8.34649237e-01 -5.50770223e-01 -3.57958852e-03 1.11808806e+02] [ 5.50765181e-01 8.34656913e-01 -2.35669279e-03 3.23612638e+01] [ 4.28572451e-03 -4.50087580e-06 9.99990816e-01 3.02177647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.83, Y:32.38, Z:0.30 [[ 8.34039369e-01 -5.51693322e-01 -3.57914611e-03 1.11830872e+02] [ 5.51688285e-01 8.34047048e-01 -2.35736449e-03 3.23779895e+01] [ 4.28571849e-03 -8.43819313e-06 9.99990816e-01 3.02718632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.85, Y:32.40, Z:0.30 [[ 8.32572168e-01 -5.53905026e-01 -3.57870366e-03 1.11852274e+02] [ 5.53900007e-01 8.32579859e-01 -2.35803599e-03 3.23959848e+01] [ 4.28568457e-03 -1.90088450e-05 9.99990816e-01 3.03533527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.998623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.88, Y:32.41, Z:0.31 [[ 8.31622684e-01 -5.55329548e-01 -3.57825901e-03 1.11875056e+02] [ 5.55324539e-01 8.31630382e-01 -2.35871054e-03 3.24125525e+01] [ 4.28565056e-03 -2.55378479e-05 9.99990816e-01 3.05091276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:32.43, Z:0.31 [[ 8.30511015e-01 -5.56990712e-01 -3.57780189e-03 1.11897257e+02] [ 5.56985716e-01 8.30518721e-01 -2.35940372e-03 3.24289447e+01] [ 4.28559740e-03 -3.32737673e-05 9.99990816e-01 3.05681745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.058623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:111.92, Y:32.45, Z:0.31 [[ 8.28318007e-01 -5.60246805e-01 -3.57734044e-03 1.11919355e+02] [ 5.60241836e-01 8.28325730e-01 -2.36010316e-03 3.24453810e+01] [ 4.28544338e-03 -4.92598280e-05 9.99990816e-01 3.05458959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.94, Y:32.46, Z:0.31 [[ 8.27317817e-01 -5.61722738e-01 -3.57714001e-03 1.11942293e+02] [ 5.61717781e-01 8.27325548e-01 -2.36040690e-03 3.24610183e+01] [ 4.28535355e-03 -5.65364627e-05 9.99990816e-01 3.05906448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.96, Y:32.48, Z:0.31 [[ 8.25840712e-01 -5.63892122e-01 -3.57668163e-03 1.11963977e+02] [ 5.63887183e-01 8.25848455e-01 -2.36110127e-03 3.24768269e+01] [ 4.28520340e-03 -6.69513742e-05 9.99990816e-01 3.05956127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.99, Y:32.49, Z:0.30 [[ 8.25340741e-01 -5.64623653e-01 -3.57637025e-03 1.11986112e+02] [ 5.64618719e-01 8.25348487e-01 -2.36157283e-03 3.24921336e+01] [ 4.28515165e-03 -7.01833161e-05 9.99990816e-01 3.03545102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:32.51, Z:0.30 [[ 8.24874636e-01 -5.65304383e-01 -3.57617370e-03 1.12009120e+02] [ 5.65299453e-01 8.24882385e-01 -2.36187043e-03 3.25076584e+01] [ 4.28509840e-03 -7.33620312e-05 9.99990816e-01 3.04873810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.03, Y:32.52, Z:0.31 [[ 8.24305761e-01 -5.66133576e-01 -3.57572429e-03 1.12031291e+02] [ 5.66128652e-01 8.24313513e-01 -2.36255062e-03 3.25229864e+01] [ 4.28503708e-03 -7.68558822e-05 9.99990816e-01 3.05141150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.05, Y:32.54, Z:0.31 [[ 8.24177154e-01 -5.66320789e-01 -3.57541781e-03 1.12054330e+02] [ 5.66315864e-01 8.24184905e-01 -2.36301433e-03 3.25385279e+01] [ 4.28502953e-03 -7.72734023e-05 9.99990816e-01 3.05565171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:32.55, Z:0.31 [[ 8.24069757e-01 -5.66477056e-01 -3.57496940e-03 1.12077993e+02] [ 5.66472129e-01 8.24077508e-01 -2.36369253e-03 3.25543941e+01] [ 4.28502946e-03 -7.72729958e-05 9.99990816e-01 3.05687240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.10, Y:32.57, Z:0.31 [[ 8.24000911e-01 -5.66577198e-01 -3.57452108e-03 1.12101164e+02] [ 5.66572270e-01 8.24008661e-01 -2.36437031e-03 3.25698021e+01] [ 4.28503464e-03 -7.69812319e-05 9.99990816e-01 3.06026670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:32.58, Z:0.30 [[ 8.24373236e-01 -5.66035330e-01 -3.57405693e-03 1.12123713e+02] [ 5.66030393e-01 8.24380980e-01 -2.36507174e-03 3.25846301e+01] [ 4.28509871e-03 -7.33230104e-05 9.99990816e-01 3.04797346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:32.60, Z:0.30 [[ 8.24669160e-01 -5.65604106e-01 -3.57385520e-03 1.12146356e+02] [ 5.65599164e-01 8.24676901e-01 -2.36537652e-03 3.26001097e+01] [ 4.28514251e-03 -7.07164437e-05 9.99990816e-01 3.04095503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.388623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:112.17, Y:32.62, Z:0.31 [[ 8.25609199e-01 -5.64231052e-01 -3.57361680e-03 1.12168382e+02] [ 5.64226096e-01 8.25616931e-01 -2.36573665e-03 3.26166876e+01] [ 4.28526061e-03 -6.31539113e-05 9.99990816e-01 3.07491346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.19, Y:32.63, Z:0.30 [[ 8.25901464e-01 -5.63803160e-01 -3.57317803e-03 1.12191449e+02] [ 5.63798197e-01 8.25909192e-01 -2.36639918e-03 3.26327899e+01] [ 4.28530391e-03 -6.01387829e-05 9.99990816e-01 3.03732709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.21, Y:32.65, Z:0.30 [[ 8.26441770e-01 -5.63010868e-01 -3.57272419e-03 1.12214204e+02] [ 5.63005894e-01 8.26449490e-01 -2.36708418e-03 3.26481504e+01] [ 4.28537020e-03 -5.52075423e-05 9.99990816e-01 3.02892352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.24, Y:32.66, Z:0.30 [[ 8.26860009e-01 -5.62396445e-01 -3.57252622e-03 1.12237472e+02] [ 5.62391465e-01 8.26867726e-01 -2.36738293e-03 3.26641004e+01] [ 4.28541437e-03 -5.16639856e-05 9.99990816e-01 3.02910489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.26, Y:32.68, Z:0.30 [[ 8.27918658e-01 -5.60836818e-01 -3.57207102e-03 1.12259259e+02] [ 5.60831820e-01 8.27926362e-01 -2.36806957e-03 3.26792855e+01] [ 4.28551236e-03 -4.27621148e-05 9.99990816e-01 3.03156976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.28, Y:32.69, Z:0.30 [[ 8.28509532e-01 -5.59963568e-01 -3.57187229e-03 1.12281717e+02] [ 5.59958561e-01 8.28517230e-01 -2.36836927e-03 3.26946416e+01] [ 4.28555825e-03 -3.78839531e-05 9.99990816e-01 3.03516223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.30, Y:32.71, Z:0.30 [[ 8.28987645e-01 -5.59255512e-01 -3.57167554e-03 1.12304537e+02] [ 5.59250497e-01 8.28995339e-01 -2.36866595e-03 3.27104822e+01] [ 4.28559186e-03 -3.38665110e-05 9.99990816e-01 3.04180559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:32.73, Z:0.30 [[ 8.29760918e-01 -5.58107575e-01 -3.57122476e-03 1.12325959e+02] [ 5.58102546e-01 8.29768603e-01 -2.36934540e-03 3.27272416e+01] [ 4.28563979e-03 -2.71194119e-05 9.99990816e-01 3.04429960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.35, Y:32.74, Z:0.30 [[ 8.29876414e-01 -5.57935826e-01 -3.57102899e-03 1.12348601e+02] [ 5.57930794e-01 8.29884096e-01 -2.36964042e-03 3.27438637e+01] [ 4.28564745e-03 -2.58783427e-05 9.99990816e-01 3.04346217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:32.76, Z:0.30 [[ 8.30032676e-01 -5.57703334e-01 -3.57058510e-03 1.12371081e+02] [ 5.57698297e-01 8.30040355e-01 -2.37030909e-03 3.27595584e+01] [ 4.28565900e-03 -2.38752302e-05 9.99990816e-01 3.04109582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.39, Y:32.78, Z:0.30 [[ 8.29856437e-01 -5.57965542e-01 -3.57033983e-03 1.12394749e+02] [ 5.57960506e-01 8.29864117e-01 -2.37067848e-03 3.27753324e+01] [ 4.28565381e-03 -2.47858216e-05 9.99990816e-01 3.04082443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.718623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.42, Y:32.79, Z:0.31 [[ 8.29261405e-01 -5.58849512e-01 -3.56992715e-03 1.12417245e+02] [ 5.58844482e-01 8.29269089e-01 -2.37129976e-03 3.27906265e+01] [ 4.28562995e-03 -2.86067171e-05 9.99990816e-01 3.05695124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:32.81, Z:0.31 [[ 8.28862992e-01 -5.59440254e-01 -3.56968343e-03 1.12439310e+02] [ 5.59435228e-01 8.28870678e-01 -2.37166659e-03 3.28054388e+01] [ 4.28561168e-03 -3.12199992e-05 9.99990816e-01 3.06683691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.46, Y:32.82, Z:0.31 [[ 8.28284156e-01 -5.60296901e-01 -3.56938530e-03 1.12461900e+02] [ 5.60291880e-01 8.28291846e-01 -2.37211519e-03 3.28207049e+01] [ 4.28558153e-03 -3.51121710e-05 9.99990816e-01 3.07383847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.49, Y:32.84, Z:0.31 [[ 8.27629956e-01 -5.61262788e-01 -3.56914601e-03 1.12485592e+02] [ 5.61257775e-01 8.27637651e-01 -2.37247517e-03 3.28358209e+01] [ 4.28554165e-03 -3.96794243e-05 9.99990816e-01 3.07449078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.51, Y:32.85, Z:0.31 [[ 8.26889688e-01 -5.62352832e-01 -3.56871552e-03 1.12508992e+02] [ 5.62347827e-01 8.26897388e-01 -2.37312255e-03 3.28508924e+01] [ 4.28549373e-03 -4.45488566e-05 9.99990816e-01 3.08054409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:32.86, Z:0.31 [[ 8.25139216e-01 -5.64918173e-01 -3.56828559e-03 1.12532521e+02] [ 5.64913189e-01 8.25146929e-01 -2.37376882e-03 3.28645951e+01] [ 4.28534505e-03 -5.70818477e-05 9.99990816e-01 3.08105465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.56, Y:32.88, Z:0.31 [[ 8.24089929e-01 -5.66447754e-01 -3.56804934e-03 1.12556484e+02] [ 5.66442782e-01 8.24097651e-01 -2.37412388e-03 3.28795563e+01] [ 4.28523822e-03 -6.46042120e-05 9.99990816e-01 3.08241274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:32.89, Z:0.31 [[ 8.23015816e-01 -5.68007253e-01 -3.56762219e-03 1.12580060e+02] [ 5.68002293e-01 8.23023545e-01 -2.37476560e-03 3.28942687e+01] [ 4.28512114e-03 -7.19479342e-05 9.99990816e-01 3.07970808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.60, Y:32.91, Z:0.31 [[ 8.21217705e-01 -5.70603852e-01 -3.56719776e-03 1.12604582e+02] [ 5.70598914e-01 8.21225449e-01 -2.37540296e-03 3.29069764e+01] [ 4.28488767e-03 -8.47161977e-05 9.99990816e-01 3.08199779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.63, Y:32.92, Z:0.31 [[ 8.20234287e-01 -5.72016600e-01 -3.56696501e-03 1.12629235e+02] [ 5.72011674e-01 8.20242038e-01 -2.37575242e-03 3.29212026e+01] [ 4.28474447e-03 -9.16720368e-05 9.99990816e-01 3.08117486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.018623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.65, Y:32.93, Z:0.31 [[ 8.18633609e-01 -5.74305054e-01 -3.56654607e-03 1.12653896e+02] [ 5.74300146e-01 8.18641371e-01 -2.37638118e-03 3.29329433e+01] [ 4.28448989e-03 -1.02882430e-04 9.99990816e-01 3.06207404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:32.95, Z:0.31 [[ 8.17822527e-01 -5.75459465e-01 -3.56633570e-03 1.12677573e+02] [ 5.75454567e-01 8.17830296e-01 -2.37669685e-03 3.29462143e+01] [ 4.28435008e-03 -1.08547944e-04 9.99990816e-01 3.05524977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.70, Y:32.96, Z:0.30 [[ 8.16920662e-01 -5.76739037e-01 -3.56596723e-03 1.12702350e+02] [ 5.76734149e-01 8.16928436e-01 -2.37724957e-03 3.29571779e+01] [ 4.28419266e-03 -1.14590783e-04 9.99990816e-01 3.04502869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.73, Y:32.97, Z:0.30 [[ 8.16723286e-01 -5.77018510e-01 -3.56559866e-03 1.12726235e+02] [ 5.77013622e-01 8.16731061e-01 -2.37780225e-03 3.29709387e+01] [ 4.28417109e-03 -1.15392530e-04 9.99990816e-01 3.04805960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.75, Y:32.98, Z:0.31 [[ 8.16747007e-01 -5.76984935e-01 -3.56519021e-03 1.12750051e+02] [ 5.76980045e-01 8.16754780e-01 -2.37841451e-03 3.29847824e+01] [ 4.28419549e-03 -1.14480669e-04 9.99990816e-01 3.05713222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:33.00, Z:0.31 [[ 8.16933569e-01 -5.76720762e-01 -3.56478479e-03 1.12773885e+02] [ 5.76715866e-01 8.16941338e-01 -2.37902200e-03 3.29986539e+01] [ 4.28425144e-03 -1.12365018e-04 9.99990816e-01 3.06003537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.80, Y:33.01, Z:0.31 [[ 8.17813956e-01 -5.75471658e-01 -3.56437907e-03 1.12799550e+02] [ 5.75466747e-01 8.17821717e-01 -2.37962973e-03 3.30093232e+01] [ 4.28443607e-03 -1.05087227e-04 9.99990816e-01 3.06453440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:33.02, Z:0.31 [[ 8.18280902e-01 -5.74807500e-01 -3.56401357e-03 1.12823798e+02] [ 5.74802581e-01 8.18288658e-01 -2.38017702e-03 3.30219110e+01] [ 4.28453548e-03 -1.00950800e-04 9.99990816e-01 3.07261184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.85, Y:33.04, Z:0.31 [[ 8.18694609e-01 -5.74218110e-01 -3.56365086e-03 1.12848916e+02] [ 5.74213183e-01 8.18702359e-01 -2.38071995e-03 3.30355201e+01] [ 4.28462187e-03 -9.72127157e-05 9.99990816e-01 3.07298538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.87, Y:33.05, Z:0.31 [[ 8.19907826e-01 -5.72484463e-01 -3.56325070e-03 1.12874539e+02] [ 5.72479517e-01 8.19915564e-01 -2.38131871e-03 3.30457909e+01] [ 4.28483267e-03 -8.74261957e-05 9.99990816e-01 3.05954863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:33.06, Z:0.31 [[ 8.20544753e-01 -5.71571180e-01 -3.56297799e-03 1.12899388e+02] [ 5.71566224e-01 8.20552484e-01 -2.38172669e-03 3.30585102e+01] [ 4.28493677e-03 -8.21645371e-05 9.99990816e-01 3.05598927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.92, Y:33.07, Z:0.31 [[ 8.21296184e-01 -5.70490917e-01 -3.56258131e-03 1.12924144e+02] [ 5.70485948e-01 8.21303907e-01 -2.38231989e-03 3.30717707e+01] [ 4.28505381e-03 -7.58123440e-05 9.99990816e-01 3.05586514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.95, Y:33.08, Z:0.30 [[ 8.22728684e-01 -5.68423102e-01 -3.56218597e-03 1.12950473e+02] [ 5.68418111e-01 8.22736394e-01 -2.38291088e-03 3.30828092e+01] [ 4.28524163e-03 -6.43218813e-05 9.99990816e-01 3.04774430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.98, Y:33.10, Z:0.30 [[ 8.23280203e-01 -5.67624014e-01 -3.56179041e-03 1.12975578e+02] [ 5.67619013e-01 8.23287905e-01 -2.38350198e-03 3.30957832e+01] [ 4.28531193e-03 -5.94499598e-05 9.99990816e-01 3.03917064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.438623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.00, Y:33.11, Z:0.30 [[ 8.23774172e-01 -5.66906897e-01 -3.56139329e-03 1.13000980e+02] [ 5.66901886e-01 8.23781869e-01 -2.38409520e-03 3.31085965e+01] [ 4.28537123e-03 -5.50045292e-05 9.99990816e-01 3.03611581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:33.12, Z:0.30 [[ 8.24923124e-01 -5.65233721e-01 -3.56099628e-03 1.13028095e+02] [ 5.65228692e-01 8.24930809e-01 -2.38468805e-03 3.31190357e+01] [ 4.28548164e-03 -4.55929581e-05 9.99990816e-01 3.03816054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:33.13, Z:0.31 [[ 8.25664194e-01 -5.64150655e-01 -3.56059808e-03 1.13052502e+02] [ 5.64145613e-01 8.25671870e-01 -2.38528246e-03 3.31321505e+01] [ 4.28554434e-03 -3.92534683e-05 9.99990816e-01 3.06794969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:33.15, Z:0.31 [[ 8.26425546e-01 -5.63034761e-01 -3.56015957e-03 1.13077255e+02] [ 5.63029707e-01 8.26433214e-01 -2.38593678e-03 3.31453331e+01] [ 4.28559946e-03 -3.26764916e-05 9.99990816e-01 3.08611619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:33.16, Z:0.31 [[ 8.28386141e-01 -5.60146169e-01 -3.55969388e-03 1.13102512e+02] [ 5.60141085e-01 8.28393789e-01 -2.38663136e-03 3.31554329e+01] [ 4.28569071e-03 -1.68784507e-05 9.99990816e-01 3.09650464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.13, Y:33.17, Z:0.32 [[ 8.29435784e-01 -5.58590736e-01 -3.55942940e-03 1.13126299e+02] [ 5.58585635e-01 8.29443422e-01 -2.38702574e-03 3.31696385e+01] [ 4.28571577e-03 -8.36156835e-06 9.99990816e-01 3.16734719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.15, Y:33.18, Z:0.31 [[ 8.30653304e-01 -5.56778612e-01 -3.55896671e-03 1.13150176e+02] [ 5.56773492e-01 8.30660928e-01 -2.38771539e-03 3.31827922e+01] [ 4.28572345e-03 1.82535047e-06 9.99990816e-01 3.10359822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.17, Y:33.20, Z:0.31 [[ 8.31729881e-01 -5.55169110e-01 -3.55870651e-03 1.13173583e+02] [ 5.55163974e-01 8.31737494e-01 -2.38810314e-03 3.31963043e+01] [ 4.28571073e-03 1.05910882e-05 9.99990816e-01 3.09955600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.678623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.20, Y:33.21, Z:0.31 [[ 8.33775656e-01 -5.52091925e-01 -3.55840821e-03 1.13199377e+02] [ 5.52086759e-01 8.33783249e-01 -2.38854754e-03 3.32103198e+01] [ 4.28563897e-03 2.69627371e-05 9.99990816e-01 3.14772219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:113.22, Y:33.22, Z:0.31 [[ 8.34760166e-01 -5.50602221e-01 -3.55801791e-03 1.13222574e+02] [ 5.50597038e-01 8.34767748e-01 -2.38912880e-03 3.32238975e+01] [ 4.28557822e-03 3.53154322e-05 9.99990816e-01 3.07414447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.25, Y:33.24, Z:0.31 [[ 8.35579977e-01 -5.49357302e-01 -3.55771591e-03 1.13246565e+02] [ 5.49352106e-01 8.35587550e-01 -2.38957843e-03 3.32383171e+01] [ 4.28551548e-03 4.22451666e-05 9.99990816e-01 3.07874454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:33.25, Z:0.31 [[ 8.36316021e-01 -5.48236134e-01 -3.55726795e-03 1.13269905e+02] [ 5.48230926e-01 8.36323585e-01 -2.39024510e-03 3.32517593e+01] [ 4.28544582e-03 4.87959654e-05 9.99990816e-01 3.05321266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:33.27, Z:0.31 [[ 8.37147884e-01 -5.46965052e-01 -3.55702647e-03 1.13295009e+02] [ 5.46959830e-01 8.37155439e-01 -2.39060441e-03 3.32650651e+01] [ 4.28536112e-03 5.57388293e-05 9.99990816e-01 3.08082488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.828623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.32, Y:33.28, Z:0.31 [[ 8.37203354e-01 -5.46880147e-01 -3.55658959e-03 1.13318605e+02] [ 5.46874922e-01 8.37210906e-01 -2.39125419e-03 3.32800267e+01] [ 4.28534504e-03 5.69563661e-05 9.99990816e-01 3.09725690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.34, Y:33.29, Z:0.31 [[ 8.37276178e-01 -5.46768649e-01 -3.55613049e-03 1.13341460e+02] [ 5.46763420e-01 8.37283728e-01 -2.39193674e-03 3.32944951e+01] [ 4.28532621e-03 5.83495825e-05 9.99990816e-01 3.10151182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:33.31, Z:0.31 [[ 8.37151474e-01 -5.46959565e-01 -3.55587473e-03 1.13363935e+02] [ 5.46954336e-01 8.37159024e-01 -2.39231689e-03 3.33089592e+01] [ 4.28533323e-03 5.78305074e-05 9.99990816e-01 3.08326201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.39, Y:33.32, Z:0.31 [[ 8.36139236e-01 -5.48505730e-01 -3.55561747e-03 1.13388685e+02] [ 5.48500514e-01 8.36146794e-01 -2.39269920e-03 3.33229479e+01] [ 4.28542737e-03 5.03716696e-05 9.99990816e-01 3.11817306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:33.34, Z:0.31 [[ 8.35657960e-01 -5.49238687e-01 -3.55515675e-03 1.13411625e+02] [ 5.49233475e-01 8.35665521e-01 -2.39338356e-03 3.33372267e+01] [ 4.28546076e-03 4.74389286e-05 9.99990816e-01 3.09378147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.44, Y:33.35, Z:0.31 [[ 8.35026490e-01 -5.50198259e-01 -3.55490412e-03 1.13435304e+02] [ 5.50193053e-01 8.35034056e-01 -2.39375872e-03 3.33523458e+01] [ 4.28550789e-03 4.29683936e-05 9.99990816e-01 3.10633750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.46, Y:33.37, Z:0.31 [[ 8.34460241e-01 -5.51056687e-01 -3.55450813e-03 1.13458587e+02] [ 5.51051486e-01 8.34467810e-01 -2.39434658e-03 3.33673083e+01] [ 4.28554331e-03 3.92700375e-05 9.99990816e-01 3.12895856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.48, Y:33.38, Z:0.32 [[ 8.33808117e-01 -5.52042926e-01 -3.55406067e-03 1.13481673e+02] [ 5.52037732e-01 8.33815691e-01 -2.39501059e-03 3.33827068e+01] [ 4.28558021e-03 3.50036833e-05 9.99990816e-01 3.19763686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.50, Y:33.40, Z:0.32 [[ 8.33571332e-01 -5.52400404e-01 -3.55360058e-03 1.13504912e+02] [ 5.52395210e-01 8.33578906e-01 -2.39569306e-03 3.33970809e+01] [ 4.28558830e-03 3.39891160e-05 9.99990816e-01 3.20450409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.53, Y:33.41, Z:0.32 [[ 8.33652677e-01 -5.52277636e-01 -3.55334079e-03 1.13528369e+02] [ 5.52272440e-01 8.33660249e-01 -2.39607833e-03 3.34125655e+01] [ 4.28557944e-03 3.50849245e-05 9.99990816e-01 3.15354089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:33.43, Z:0.31 [[ 8.33861160e-01 -5.51962810e-01 -3.55288494e-03 1.13550791e+02] [ 5.51957607e-01 8.33868728e-01 -2.39675406e-03 3.34284324e+01] [ 4.28555875e-03 3.75182514e-05 9.99990816e-01 3.14037971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:33.44, Z:0.31 [[ 8.33764085e-01 -5.52109436e-01 -3.55257429e-03 1.13574309e+02] [ 5.52104233e-01 8.33771653e-01 -2.39721444e-03 3.34445444e+01] [ 4.28556045e-03 3.73199969e-05 9.99990816e-01 3.14160067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:113.60, Y:33.46, Z:0.32 [[ 8.34101056e-01 -5.51600228e-01 -3.55215263e-03 1.13597669e+02] [ 5.51595017e-01 8.34108618e-01 -2.39783908e-03 3.34602417e+01] [ 4.28552970e-03 4.06904193e-05 9.99990816e-01 3.15327718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.218623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.62, Y:33.48, Z:0.32 [[ 8.34077163e-01 -5.51636358e-01 -3.55172070e-03 1.13620182e+02] [ 5.51631146e-01 8.34084724e-01 -2.39847869e-03 3.34761428e+01] [ 4.28552403e-03 4.12765422e-05 9.99990816e-01 3.15882633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.64, Y:33.49, Z:0.32 [[ 8.34013409e-01 -5.51732746e-01 -3.55128256e-03 1.13642605e+02] [ 5.51727531e-01 8.34020968e-01 -2.39912724e-03 3.34923512e+01] [ 4.28552118e-03 4.15639334e-05 9.99990816e-01 3.15831820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.66, Y:33.51, Z:0.32 [[ 8.33940088e-01 -5.51843566e-01 -3.55083849e-03 1.13664571e+02] [ 5.51838350e-01 8.33947646e-01 -2.39978431e-03 3.35085867e+01] [ 4.28551893e-03 4.17874886e-05 9.99990816e-01 3.16061918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.69, Y:33.53, Z:0.32 [[ 8.33300279e-01 -5.52809224e-01 -3.55060408e-03 1.13687444e+02] [ 5.52804015e-01 8.33307843e-01 -2.40013109e-03 3.35251631e+01] [ 4.28556083e-03 3.72417152e-05 9.99990816e-01 3.15248399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.71, Y:33.54, Z:0.32 [[ 8.32778272e-01 -5.53595290e-01 -3.55015374e-03 1.13710459e+02] [ 5.53590086e-01 8.32785839e-01 -2.40079701e-03 3.35410431e+01] [ 4.28558768e-03 3.40016716e-05 9.99990816e-01 3.15444615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.73, Y:33.56, Z:0.32 [[ 8.32201580e-01 -5.54461838e-01 -3.54970207e-03 1.13733454e+02] [ 5.54456638e-01 8.32209150e-01 -2.40146464e-03 3.35567829e+01] [ 4.28561505e-03 3.03467918e-05 9.99990816e-01 3.15697692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.76, Y:33.57, Z:0.32 [[ 8.31501685e-01 -5.55510892e-01 -3.54924186e-03 1.13755073e+02] [ 5.55505699e-01 8.31509259e-01 -2.40214463e-03 3.35724979e+01] [ 4.28564497e-03 2.57632275e-05 9.99990816e-01 3.16626616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:33.59, Z:0.32 [[ 8.30963677e-01 -5.56315353e-01 -3.54898351e-03 1.13777830e+02] [ 5.56310165e-01 8.30971256e-01 -2.40252625e-03 3.35891607e+01] [ 4.28566552e-03 2.20764458e-05 9.99990816e-01 3.17546910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.80, Y:33.61, Z:0.32 [[ 8.30500557e-01 -5.57006492e-01 -3.54852809e-03 1.13799687e+02] [ 5.57001308e-01 8.30508138e-01 -2.40319872e-03 3.36050530e+01] [ 4.28567875e-03 1.93230851e-05 9.99990816e-01 3.17769657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.82, Y:33.62, Z:0.32 [[ 8.29924062e-01 -5.57865092e-01 -3.54827929e-03 1.13822238e+02] [ 5.57859914e-01 8.29931647e-01 -2.40356601e-03 3.36223908e+01] [ 4.28569485e-03 1.53344821e-05 9.99990816e-01 3.22125390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.84, Y:33.64, Z:0.32 [[ 8.29385246e-01 -5.58665846e-01 -3.54781305e-03 1.13843612e+02] [ 5.58660672e-01 8.29392834e-01 -2.40425401e-03 3.36389093e+01] [ 4.28570532e-03 1.20291824e-05 9.99990816e-01 3.16181027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.548623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.87, Y:33.66, Z:0.32 [[ 8.29034951e-01 -5.59185537e-01 -3.54755771e-03 1.13866045e+02] [ 5.59180367e-01 8.29042541e-01 -2.40463072e-03 3.36555263e+01] [ 4.28571098e-03 9.79829209e-06 9.99990816e-01 3.15628071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.89, Y:33.67, Z:0.32 [[ 8.28733635e-01 -5.59632004e-01 -3.54710952e-03 1.13888413e+02] [ 5.59626835e-01 8.28741226e-01 -2.40529167e-03 3.36717780e+01] [ 4.28571409e-03 8.28843202e-06 9.99990816e-01 3.15876613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.608623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:113.91, Y:33.69, Z:0.32 [[ 8.28548252e-01 -5.59906435e-01 -3.54664773e-03 1.13910075e+02] [ 5.59901266e-01 8.28555842e-01 -2.40597240e-03 3.36878884e+01] [ 4.28571512e-03 7.69167311e-06 9.99990816e-01 3.15651061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.93, Y:33.71, Z:0.31 [[ 8.28299107e-01 -5.60274945e-01 -3.54633383e-03 1.13931164e+02] [ 5.60269777e-01 8.28306698e-01 -2.40643499e-03 3.37057288e+01] [ 4.28571729e-03 6.34429280e-06 9.99990816e-01 3.14902690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:33.72, Z:0.32 [[ 8.28066675e-01 -5.60618415e-01 -3.54609260e-03 1.13953638e+02] [ 5.60613249e-01 8.28074268e-01 -2.40679041e-03 3.37225633e+01] [ 4.28571906e-03 4.99643663e-06 9.99990816e-01 3.15393549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.98, Y:33.74, Z:0.32 [[ 8.27724524e-01 -5.61123463e-01 -3.54563194e-03 1.13975778e+02] [ 5.61118298e-01 8.27732118e-01 -2.40746885e-03 3.37393336e+01] [ 4.28572069e-03 3.20205003e-06 9.99990816e-01 3.16614445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.00, Y:33.76, Z:0.32 [[ 8.26893642e-01 -5.62347168e-01 -3.54516965e-03 1.13996751e+02] [ 5.62342011e-01 8.26901241e-01 -2.40814941e-03 3.37563241e+01] [ 4.28572119e-03 -2.31439205e-06 9.99990816e-01 3.17705747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.02, Y:33.77, Z:0.32 [[ 8.26326347e-01 -5.63180434e-01 -3.54490591e-03 1.14019755e+02] [ 5.63175284e-01 8.26333951e-01 -2.40853759e-03 3.37728485e+01] [ 4.28571735e-03 -6.16531939e-06 9.99990816e-01 3.18197045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:33.79, Z:0.32 [[ 8.25464507e-01 -5.64442897e-01 -3.54444761e-03 1.14043019e+02] [ 5.64437756e-01 8.25472117e-01 -2.40921184e-03 3.37892925e+01] [ 4.28570518e-03 -1.19011939e-05 9.99990816e-01 3.18405477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.06, Y:33.80, Z:0.32 [[ 8.24532491e-01 -5.65803509e-01 -3.54399108e-03 1.14064548e+02] [ 5.65798377e-01 8.24540107e-01 -2.40988322e-03 3.38049402e+01] [ 4.28568317e-03 -1.81573858e-05 9.99990816e-01 3.21276165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.09, Y:33.82, Z:0.32 [[ 8.23020487e-01 -5.68000633e-01 -3.54374855e-03 1.14086546e+02] [ 5.67995520e-01 8.23028116e-01 -2.41023980e-03 3.38203169e+01] [ 4.28562243e-03 -2.91565641e-05 9.99990816e-01 3.18444170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.11, Y:33.84, Z:0.32 [[ 8.22310114e-01 -5.69028576e-01 -3.54349457e-03 1.14109486e+02] [ 5.69023470e-01 8.22317748e-01 -2.41061315e-03 3.38361866e+01] [ 4.28558624e-03 -3.40600027e-05 9.99990816e-01 3.19058672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:33.85, Z:0.32 [[ 8.21642173e-01 -5.69992620e-01 -3.54304480e-03 1.14131302e+02] [ 5.69987521e-01 8.21649811e-01 -2.41127403e-03 3.38513602e+01] [ 4.28555049e-03 -3.82868855e-05 9.99990816e-01 3.19628890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.938623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.15, Y:33.87, Z:0.32 [[ 8.21042867e-01 -5.70855551e-01 -3.54264131e-03 1.14154062e+02] [ 5.70850457e-01 8.21050509e-01 -2.41186668e-03 3.38672708e+01] [ 4.28551494e-03 -4.20724735e-05 9.99990816e-01 3.20081002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.18, Y:33.88, Z:0.32 [[ 8.20510898e-01 -5.71619907e-01 -3.54219510e-03 1.14176144e+02] [ 5.71614818e-01 8.20518543e-01 -2.41252183e-03 3.38831616e+01] [ 4.28548227e-03 -4.52707506e-05 9.99990816e-01 3.20953050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.998623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.20, Y:33.90, Z:0.32 [[ 8.20273228e-01 -5.71960914e-01 -3.54179406e-03 1.14198962e+02] [ 5.71955825e-01 8.20280873e-01 -2.41311045e-03 3.38987214e+01] [ 4.28547078e-03 -4.63398489e-05 9.99990816e-01 3.21234233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:33.91, Z:0.32 [[ 8.20165967e-01 -5.72114714e-01 -3.54135378e-03 1.14221197e+02] [ 5.72109624e-01 8.20173611e-01 -2.41375642e-03 3.39134358e+01] [ 4.28547048e-03 -4.63617113e-05 9.99990816e-01 3.20947001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:33.93, Z:0.32 [[ 8.20306882e-01 -5.71912652e-01 -3.54095757e-03 1.14243236e+02] [ 5.71907558e-01 8.20314523e-01 -2.41433751e-03 3.39294125e+01] [ 4.28548909e-03 -4.46027205e-05 9.99990816e-01 3.20738507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:33.95, Z:0.32 [[ 8.20338446e-01 -5.71867378e-01 -3.54056576e-03 1.14265913e+02] [ 5.71862281e-01 8.20346086e-01 -2.41491195e-03 3.39460242e+01] [ 4.28549863e-03 -4.36708950e-05 9.99990816e-01 3.21283650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:33.96, Z:0.32 [[ 8.20649107e-01 -5.71421482e-01 -3.54013283e-03 1.14288795e+02] [ 5.71416378e-01 8.20656742e-01 -2.41554644e-03 3.39620567e+01] [ 4.28552900e-03 -4.05738477e-05 9.99990816e-01 3.21673865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.31, Y:33.98, Z:0.32 [[ 8.21019661e-01 -5.70888945e-01 -3.53970156e-03 1.14311599e+02] [ 5.70883833e-01 8.21027290e-01 -2.41617825e-03 3.39775475e+01] [ 4.28556103e-03 -3.70285423e-05 9.99990816e-01 3.22007537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:33.99, Z:0.32 [[ 8.21124732e-01 -5.70737811e-01 -3.53926997e-03 1.14334851e+02] [ 5.70732695e-01 8.21132358e-01 -2.41681028e-03 3.39937159e+01] [ 4.28557411e-03 -3.54743923e-05 9.99990816e-01 3.23153013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:34.01, Z:0.32 [[ 8.21228239e-01 -5.70588868e-01 -3.53881743e-03 1.14357993e+02] [ 5.70583748e-01 8.21235863e-01 -2.41747274e-03 3.40094584e+01] [ 4.28558682e-03 -3.38948332e-05 9.99990816e-01 3.23647840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:34.02, Z:0.32 [[ 8.21352355e-01 -5.70410193e-01 -3.53835388e-03 1.14381124e+02] [ 5.70405068e-01 8.21359976e-01 -2.41815103e-03 3.40249637e+01] [ 4.28560025e-03 -3.21409432e-05 9.99990816e-01 3.23955568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.40, Y:34.04, Z:0.32 [[ 8.21806515e-01 -5.69755680e-01 -3.53788740e-03 1.14403937e+02] [ 5.69750546e-01 8.21814130e-01 -2.41883332e-03 3.40398146e+01] [ 4.28562988e-03 -2.79002964e-05 9.99990816e-01 3.23226801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.43, Y:34.06, Z:0.33 [[ 8.21829230e-01 -5.69722917e-01 -3.53762962e-03 1.14426835e+02] [ 5.69717781e-01 8.21836843e-01 -2.41921026e-03 3.40559402e+01] [ 4.28563389e-03 -2.72727935e-05 9.99990816e-01 3.25265756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:34.07, Z:0.32 [[ 8.22151647e-01 -5.69257549e-01 -3.53716415e-03 1.14449356e+02] [ 5.69252406e-01 8.22159256e-01 -2.41989065e-03 3.40715388e+01] [ 4.28565327e-03 -2.40221158e-05 9.99990816e-01 3.24734946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.47, Y:34.09, Z:0.33 [[ 8.22488116e-01 -5.68771298e-01 -3.53691077e-03 1.14472797e+02] [ 5.68766149e-01 8.22495720e-01 -2.42026093e-03 3.40874374e+01] [ 4.28566892e-03 -2.10392695e-05 9.99990816e-01 3.25770247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:34.10, Z:0.33 [[ 8.23516470e-01 -5.67281339e-01 -3.53643743e-03 1.14495692e+02] [ 5.67276173e-01 8.23524063e-01 -2.42095238e-03 3.41024817e+01] [ 4.28570242e-03 -1.24425334e-05 9.99990816e-01 3.25885223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.52, Y:34.12, Z:0.33 [[ 8.23959601e-01 -5.66637514e-01 -3.53617285e-03 1.14517839e+02] [ 5.66632340e-01 8.23967189e-01 -2.42133877e-03 3.41174840e+01] [ 4.28571178e-03 -8.62456712e-06 9.99990816e-01 3.25801609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.54, Y:34.13, Z:0.33 [[ 8.24238228e-01 -5.66232143e-01 -3.53593054e-03 1.14541276e+02] [ 5.66226965e-01 8.24245813e-01 -2.42169257e-03 3.41335769e+01] [ 4.28571611e-03 -6.08762762e-06 9.99990816e-01 3.26076870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:34.15, Z:0.33 [[ 8.24401576e-01 -5.65994295e-01 -3.53547576e-03 1.14564047e+02] [ 5.65989111e-01 8.24409157e-01 -2.42235633e-03 3.41486519e+01] [ 4.28571845e-03 -4.04640287e-06 9.99990816e-01 3.25068351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.59, Y:34.16, Z:0.33 [[ 8.23926324e-01 -5.66685905e-01 -3.53522962e-03 1.14586910e+02] [ 5.66680726e-01 8.23933908e-01 -2.42271549e-03 3.41640532e+01] [ 4.28571428e-03 -7.20741967e-06 9.99990816e-01 3.25040212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:34.18, Z:0.32 [[ 8.23277154e-01 -5.67628605e-01 -3.53476954e-03 1.14609347e+02] [ 5.67623432e-01 8.23284742e-01 -2.42338657e-03 3.41788150e+01] [ 4.28570537e-03 -1.12992242e-05 9.99990816e-01 3.24302339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.63, Y:34.19, Z:0.32 [[ 8.22381313e-01 -5.68925728e-01 -3.53451872e-03 1.14632963e+02] [ 5.68920565e-01 8.22388908e-01 -2.42375234e-03 3.41941674e+01] [ 4.28568405e-03 -1.76117614e-05 9.99990816e-01 3.24425357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.66, Y:34.21, Z:0.32 [[ 8.20009805e-01 -5.72338562e-01 -3.53407207e-03 1.14657163e+02] [ 5.72333428e-01 8.20017420e-01 -2.42440343e-03 3.42081973e+01] [ 4.28558023e-03 -3.46330006e-05 9.99990816e-01 3.24550348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:114.68, Y:34.22, Z:0.33 [[ 8.18673476e-01 -5.74248425e-01 -3.53360900e-03 1.14680404e+02] [ 5.74243306e-01 8.18681100e-01 -2.42507817e-03 3.42239610e+01] [ 4.28549622e-03 -4.38041387e-05 9.99990816e-01 3.30267691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.70, Y:34.24, Z:0.32 [[ 8.17383272e-01 -5.76083417e-01 -3.53314177e-03 1.14704488e+02] [ 5.76078312e-01 8.17390906e-01 -2.42575869e-03 3.42371813e+01] [ 4.28539731e-03 -5.25917718e-05 9.99990816e-01 3.23534060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.73, Y:34.25, Z:0.32 [[ 8.16047086e-01 -5.77974629e-01 -3.53287882e-03 1.14728021e+02] [ 5.77969540e-01 8.16054731e-01 -2.42614160e-03 3.42512652e+01] [ 4.28527076e-03 -6.20505626e-05 9.99990816e-01 3.22625553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:34.26, Z:0.32 [[ 8.13838235e-01 -5.81080759e-01 -3.53247283e-03 1.14752848e+02] [ 5.81075697e-01 8.13845898e-01 -2.42673258e-03 3.42635107e+01] [ 4.28501613e-03 -7.76663535e-05 9.99990816e-01 3.21655771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.78, Y:34.28, Z:0.32 [[ 8.12889344e-01 -5.82407452e-01 -3.53207077e-03 1.14777231e+02] [ 5.82402399e-01 8.12897013e-01 -2.42731762e-03 3.42776259e+01] [ 4.28489765e-03 -8.39458643e-05 9.99990816e-01 3.22860949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:34.29, Z:0.32 [[ 8.12101579e-01 -5.83505401e-01 -3.53160276e-03 1.14800849e+02] [ 5.83500356e-01 8.12109254e-01 -2.42799836e-03 3.42911352e+01] [ 4.28479744e-03 -8.89101673e-05 9.99990816e-01 3.21573811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:34.31, Z:0.32 [[ 8.11483148e-01 -5.84365152e-01 -3.53134883e-03 1.14825463e+02] [ 5.84360114e-01 8.11490826e-01 -2.42836762e-03 3.43054374e+01] [ 4.28471060e-03 -9.30000024e-05 9.99990816e-01 3.23657968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:34.32, Z:0.32 [[ 8.10550358e-01 -5.85658305e-01 -3.53088159e-03 1.14850533e+02] [ 5.85653276e-01 8.10558042e-01 -2.42904680e-03 3.43171657e+01] [ 4.28457591e-03 -9.90076180e-05 9.99990816e-01 3.23000355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:34.33, Z:0.32 [[ 8.10027177e-01 -5.86381708e-01 -3.53056416e-03 1.14874049e+02] [ 5.86376684e-01 8.10034864e-01 -2.42950810e-03 3.43304501e+01] [ 4.28449917e-03 -1.02272920e-04 9.99990816e-01 3.22558683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.898623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.90, Y:34.34, Z:0.32 [[ 8.09569528e-01 -5.87013387e-01 -3.53017326e-03 1.14898303e+02] [ 5.87008367e-01 8.09577218e-01 -2.43007597e-03 3.43437646e+01] [ 4.28443497e-03 -1.04925783e-04 9.99990816e-01 3.24343826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.92, Y:34.35, Z:0.32 [[ 8.09284426e-01 -5.87406384e-01 -3.52970187e-03 1.14924041e+02] [ 5.87401364e-01 8.09292116e-01 -2.43076046e-03 3.43542418e+01] [ 4.28440411e-03 -1.06175110e-04 9.99990816e-01 3.24154768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:34.37, Z:0.33 [[ 8.09226260e-01 -5.87486513e-01 -3.52938023e-03 1.14948644e+02] [ 5.87481492e-01 8.09233950e-01 -2.43122738e-03 3.43673246e+01] [ 4.28440760e-03 -1.06032521e-04 9.99990816e-01 3.25457967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.97, Y:34.38, Z:0.33 [[ 8.09392748e-01 -5.87257121e-01 -3.52894311e-03 1.14973809e+02] [ 5.87252095e-01 8.09400434e-01 -2.43186170e-03 3.43806210e+01] [ 4.28445619e-03 -1.04048015e-04 9.99990816e-01 3.27462878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:34.39, Z:0.33 [[ 8.09516783e-01 -5.87086133e-01 -3.52848248e-03 1.14998828e+02] [ 5.87081102e-01 8.09524467e-01 -2.43252987e-03 3.43940486e+01] [ 4.28449745e-03 -1.02331625e-04 9.99990816e-01 3.28481878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:34.40, Z:0.33 [[ 8.09985471e-01 -5.86439332e-01 -3.52802247e-03 1.15024390e+02] [ 5.86434292e-01 8.09993148e-01 -2.43319686e-03 3.44041546e+01] [ 4.28459637e-03 -9.80992537e-05 9.99990816e-01 3.29238094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.05, Y:34.42, Z:0.33 [[ 8.09876044e-01 -5.86590444e-01 -3.52770838e-03 1.15047749e+02] [ 5.86585404e-01 8.09883721e-01 -2.43365215e-03 3.44205095e+01] [ 4.28459068e-03 -9.83456684e-05 9.99990816e-01 3.29360207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:34.43, Z:0.33 [[ 8.10112754e-01 -5.86263494e-01 -3.52725420e-03 1.15072766e+02] [ 5.86258448e-01 8.10120427e-01 -2.43431024e-03 3.44338572e+01] [ 4.28464791e-03 -9.58168004e-05 9.99990816e-01 3.28726150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:34.45, Z:0.33 [[ 8.10534945e-01 -5.85679660e-01 -3.52679032e-03 1.15096676e+02] [ 5.85674605e-01 8.10542613e-01 -2.43498212e-03 3.44461239e+01] [ 4.28473334e-03 -9.19134239e-05 9.99990816e-01 3.27864418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.168623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.12, Y:34.46, Z:0.33 [[ 8.11192623e-01 -5.84768410e-01 -3.52637503e-03 1.15121704e+02] [ 5.84763344e-01 8.11200283e-01 -2.43558340e-03 3.44596025e+01] [ 4.28484866e-03 -8.63675651e-05 9.99990816e-01 3.28107359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:34.47, Z:0.33 [[ 8.13177184e-01 -5.82005529e-01 -3.52590982e-03 1.15147349e+02] [ 5.82000434e-01 8.13184825e-01 -2.43625668e-03 3.44694184e+01] [ 4.28513122e-03 -7.09727014e-05 9.99990816e-01 3.27785121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:34.48, Z:0.33 [[ 8.14389367e-01 -5.80308134e-01 -3.52549301e-03 1.15171834e+02] [ 5.80303020e-01 8.14396996e-01 -2.43685969e-03 3.44828085e+01] [ 4.28528042e-03 -6.13016217e-05 9.99990816e-01 3.27996672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.20, Y:34.50, Z:0.33 [[ 8.15785034e-01 -5.78344492e-01 -3.52503249e-03 1.15196121e+02] [ 5.78339358e-01 8.15792649e-01 -2.43752568e-03 3.44972881e+01] [ 4.28542514e-03 -5.01680600e-05 9.99990816e-01 3.33164642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:34.51, Z:0.33 [[ 8.17277788e-01 -5.76233107e-01 -3.52456784e-03 1.15219948e+02] [ 5.76227950e-01 8.17285387e-01 -2.43819736e-03 3.45096458e+01] [ 4.28554783e-03 -3.82699575e-05 9.99990816e-01 3.27321619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:34.52, Z:0.33 [[ 8.20978245e-01 -5.70948598e-01 -3.52414925e-03 1.15245213e+02] [ 5.70943389e-01 8.20985809e-01 -2.43880224e-03 3.45216459e+01] [ 4.28570724e-03 -9.88613047e-06 9.99990816e-01 3.26899435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:34.54, Z:0.33 [[ 8.22747725e-01 -5.68395782e-01 -3.52370620e-03 1.15269421e+02] [ 5.68390547e-01 8.22755271e-01 -2.43944221e-03 3.45362975e+01] [ 4.28571651e-03 4.20422970e-06 9.99990816e-01 3.27005484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:34.55, Z:0.33 [[ 8.24355774e-01 -5.66061079e-01 -3.52326548e-03 1.15293691e+02] [ 5.66055820e-01 8.24363303e-01 -2.44007858e-03 3.45510642e+01] [ 4.28568428e-03 1.71279343e-05 9.99990816e-01 3.26881860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:34.57, Z:0.33 [[ 8.25812839e-01 -5.63933281e-01 -3.52282328e-03 1.15318340e+02] [ 5.63928000e-01 8.25820352e-01 -2.44071682e-03 3.45654468e+01] [ 4.28562061e-03 2.89566021e-05 9.99990816e-01 3.27243597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:34.58, Z:0.33 [[ 8.27110586e-01 -5.62028177e-01 -3.52237134e-03 1.15342223e+02] [ 5.62022876e-01 8.27118085e-01 -2.44136888e-03 3.45794342e+01] [ 4.28553514e-03 3.96287768e-05 9.99990816e-01 3.27412249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:34.59, Z:0.33 [[ 8.29429225e-01 -5.58600713e-01 -3.52192212e-03 1.15367109e+02] [ 5.58595378e-01 8.29436701e-01 -2.44201674e-03 3.45926193e+01] [ 4.28532376e-03 5.81506370e-05 9.99990816e-01 3.28255438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.39, Y:34.61, Z:0.33 [[ 8.30200665e-01 -5.57453545e-01 -3.52147603e-03 1.15390988e+02] [ 5.57448197e-01 8.30208131e-01 -2.44265986e-03 3.46080238e+01] [ 4.28522743e-03 6.48573735e-05 9.99990816e-01 3.28632243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:34.62, Z:0.33 [[ 8.30820786e-01 -5.56528906e-01 -3.52102816e-03 1.15414499e+02] [ 5.56523547e-01 8.30828244e-01 -2.44330529e-03 3.46230229e+01] [ 4.28513966e-03 7.04137390e-05 9.99990816e-01 3.28916415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.44, Y:34.64, Z:0.33 [[ 8.31534616e-01 -5.55461778e-01 -3.52057963e-03 1.15436876e+02] [ 5.55456407e-01 8.31542066e-01 -2.44395141e-03 3.46374214e+01] [ 4.28503165e-03 7.67016860e-05 9.99990816e-01 3.28740983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:34.65, Z:0.33 [[ 8.33036390e-01 -5.53206997e-01 -3.52017694e-03 1.15459898e+02] [ 5.53201603e-01 8.33043823e-01 -2.44453128e-03 3.46511686e+01] [ 4.28479346e-03 8.90159843e-05 9.99990816e-01 3.28731657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.48, Y:34.67, Z:0.33 [[ 8.33736801e-01 -5.52150846e-01 -3.51987587e-03 1.15483384e+02] [ 5.52145441e-01 8.33744226e-01 -2.44496472e-03 3.46667762e+01] [ 4.28466552e-03 9.49736479e-05 9.99990816e-01 3.28298022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:34.68, Z:0.33 [[ 8.34554624e-01 -5.50913962e-01 -3.51943809e-03 1.15505366e+02] [ 5.50908543e-01 8.34562039e-01 -2.44559472e-03 3.46819423e+01] [ 4.28450170e-03 1.02093871e-04 9.99990816e-01 3.27454736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.53, Y:34.70, Z:0.33 [[ 8.35333305e-01 -5.49732558e-01 -3.51904738e-03 1.15527313e+02] [ 5.49727126e-01 8.35340711e-01 -2.44615679e-03 3.46978585e+01] [ 4.28433557e-03 1.08840431e-04 9.99990816e-01 3.26408291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:115.55, Y:34.71, Z:0.32 [[ 8.36821512e-01 -5.47464498e-01 -3.51875163e-03 1.15548202e+02] [ 5.47459044e-01 8.36828901e-01 -2.44658215e-03 3.47148654e+01] [ 4.28400993e-03 1.20980173e-04 9.99990816e-01 3.24708928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.738623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.57, Y:34.73, Z:0.32 [[ 8.37394276e-01 -5.46588005e-01 -3.51838043e-03 1.15570403e+02] [ 5.46582542e-01 8.37401658e-01 -2.44711585e-03 3.47315444e+01] [ 4.28386178e-03 1.26115483e-04 9.99990816e-01 3.24175879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.59, Y:34.75, Z:0.32 [[ 8.37793745e-01 -5.45975517e-01 -3.51795458e-03 1.15591706e+02] [ 5.45970046e-01 8.37801120e-01 -2.44772789e-03 3.47481038e+01] [ 4.28374580e-03 1.29993293e-04 9.99990816e-01 3.23742842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.61, Y:34.77, Z:0.32 [[ 8.38024380e-01 -5.45621448e-01 -3.51757068e-03 1.15614405e+02] [ 5.45615971e-01 8.38031752e-01 -2.44827947e-03 3.47651208e+01] [ 4.28366971e-03 1.32475145e-04 9.99990816e-01 3.24126142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.828623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:115.64, Y:34.78, Z:0.32 [[ 8.38079064e-01 -5.45537452e-01 -3.51714804e-03 1.15637100e+02] [ 5.45531972e-01 8.38086434e-01 -2.44888647e-03 3.47820251e+01] [ 4.28363335e-03 1.33643769e-04 9.99990816e-01 3.24603467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.858623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.66, Y:34.80, Z:0.33 [[ 8.37880071e-01 -5.45843036e-01 -3.51672789e-03 1.15658587e+02] [ 5.45837556e-01 8.37887440e-01 -2.44948969e-03 3.47982594e+01] [ 4.28365901e-03 1.32816440e-04 9.99990816e-01 3.25019269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:34.82, Z:0.33 [[ 8.37055146e-01 -5.47107227e-01 -3.51644135e-03 1.15680226e+02] [ 5.47101756e-01 8.37062522e-01 -2.44990096e-03 3.48158332e+01] [ 4.28383979e-03 1.26850967e-04 9.99990816e-01 3.26750824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.70, Y:34.83, Z:0.33 [[ 8.36484524e-01 -5.47979269e-01 -3.51597542e-03 1.15701810e+02] [ 5.47973804e-01 8.36491904e-01 -2.45056945e-03 3.48321107e+01] [ 4.28394624e-03 1.23200997e-04 9.99990816e-01 3.26240659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:34.85, Z:0.33 [[ 8.35879879e-01 -5.48901145e-01 -3.51565806e-03 1.15724028e+02] [ 5.48895686e-01 8.35887264e-01 -2.45102467e-03 3.48486340e+01] [ 4.28406405e-03 1.19032665e-04 9.99990816e-01 3.26388160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.75, Y:34.87, Z:0.32 [[ 8.35032122e-01 -5.50189965e-01 -3.51519960e-03 1.15745069e+02] [ 5.50184515e-01 8.35039514e-01 -2.45168201e-03 3.48662804e+01] [ 4.28422140e-03 1.13224846e-04 9.99990816e-01 3.24448458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.77, Y:34.88, Z:0.33 [[ 8.34640123e-01 -5.50784450e-01 -3.51495162e-03 1.15766760e+02] [ 5.50779003e-01 8.34647517e-01 -2.45203748e-03 3.48836735e+01] [ 4.28428976e-03 1.10607312e-04 9.99990816e-01 3.25064740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:34.90, Z:0.32 [[ 8.34363201e-01 -5.51203861e-01 -3.51449394e-03 1.15787527e+02] [ 5.51198415e-01 8.34370596e-01 -2.45269330e-03 3.49007092e+01] [ 4.28432442e-03 1.09253540e-04 9.99990816e-01 3.23422051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:34.92, Z:0.32 [[ 8.34080843e-01 -5.51631033e-01 -3.51424808e-03 1.15809375e+02] [ 5.51625590e-01 8.34088240e-01 -2.45304552e-03 3.49178853e+01] [ 4.28436903e-03 1.07489103e-04 9.99990816e-01 3.24236951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.83, Y:34.94, Z:0.32 [[ 8.33915961e-01 -5.51880261e-01 -3.51378282e-03 1.15830594e+02] [ 5.51874817e-01 8.33923357e-01 -2.45371178e-03 3.49354808e+01] [ 4.28438067e-03 1.07021165e-04 9.99990816e-01 3.24974654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:34.95, Z:0.32 [[ 8.33873093e-01 -5.51945034e-01 -3.51346531e-03 1.15851816e+02] [ 5.51939588e-01 8.33880488e-01 -2.45416634e-03 3.49521809e+01] [ 4.28437509e-03 1.07242682e-04 9.99990816e-01 3.24505879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:34.97, Z:0.33 [[ 8.33962403e-01 -5.51810083e-01 -3.51315608e-03 1.15873653e+02] [ 5.51804634e-01 8.33969796e-01 -2.45460893e-03 3.49700275e+01] [ 4.28434401e-03 1.08475760e-04 9.99990816e-01 3.26443951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:34.99, Z:0.33 [[ 8.34298200e-01 -5.51302254e-01 -3.51270302e-03 1.15895343e+02] [ 5.51296798e-01 8.34305587e-01 -2.45525712e-03 3.49878165e+01] [ 4.28425653e-03 1.11874670e-04 9.99990816e-01 3.27115081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:35.01, Z:0.33 [[ 8.34523546e-01 -5.50961084e-01 -3.51225005e-03 1.15916021e+02] [ 5.50955622e-01 8.34530929e-01 -2.45590491e-03 3.50053548e+01] [ 4.28418933e-03 1.14416559e-04 9.99990816e-01 3.26111534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:35.03, Z:0.33 [[ 8.35115081e-01 -5.50064057e-01 -3.51200200e-03 1.15936369e+02] [ 5.50058586e-01 8.35122457e-01 -2.45625958e-03 3.50256747e+01] [ 4.28405185e-03 1.19452566e-04 9.99990816e-01 3.26918360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:35.04, Z:0.33 [[ 8.35343419e-01 -5.49717237e-01 -3.51155134e-03 1.15956619e+02] [ 5.49711760e-01 8.35350791e-01 -2.45690369e-03 3.50435409e+01] [ 4.28397950e-03 1.22017258e-04 9.99990816e-01 3.26807120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.98, Y:35.06, Z:0.33 [[ 8.35489042e-01 -5.49495889e-01 -3.51124372e-03 1.15977707e+02] [ 5.49490409e-01 8.35496411e-01 -2.45734324e-03 3.50617692e+01] [ 4.28393154e-03 1.23688602e-04 9.99990816e-01 3.27228381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.00, Y:35.08, Z:0.33 [[ 8.35606392e-01 -5.49317423e-01 -3.51079070e-03 1.15999292e+02] [ 5.49311938e-01 8.35613758e-01 -2.45799030e-03 3.50806086e+01] [ 4.28388191e-03 1.25393158e-04 9.99990816e-01 3.27064166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:35.10, Z:0.33 [[ 8.35564768e-01 -5.49380738e-01 -3.51033629e-03 1.16019473e+02] [ 5.49375251e-01 8.35572133e-01 -2.45863909e-03 3.50986858e+01] [ 4.28386814e-03 1.25860318e-04 9.99990816e-01 3.26652563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:35.12, Z:0.33 [[ 8.35337552e-01 -5.49726162e-01 -3.51009180e-03 1.16039000e+02] [ 5.49720677e-01 8.35344917e-01 -2.45898808e-03 3.51200762e+01] [ 4.28390743e-03 1.24515041e-04 9.99990816e-01 3.27266788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.06, Y:35.14, Z:0.33 [[ 8.35047647e-01 -5.50166438e-01 -3.50963655e-03 1.16060290e+02] [ 5.50160954e-01 8.35055013e-01 -2.45963768e-03 3.51384669e+01] [ 4.28394970e-03 1.23049662e-04 9.99990816e-01 3.27641445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.08, Y:35.16, Z:0.33 [[ 8.34103181e-01 -5.51597289e-01 -3.50917941e-03 1.16078807e+02] [ 5.51591814e-01 8.34110555e-01 -2.46028970e-03 3.51588890e+01] [ 4.28413272e-03 1.16500831e-04 9.99990816e-01 3.28948039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.10, Y:35.18, Z:0.33 [[ 8.33250941e-01 -5.52883854e-01 -3.50892497e-03 1.16099968e+02] [ 5.52878389e-01 8.33258322e-01 -2.46065254e-03 3.51781495e+01] [ 4.28429600e-03 1.10332262e-04 9.99990816e-01 3.30172106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.12, Y:35.20, Z:0.33 [[ 8.32184811e-01 -5.54487268e-01 -3.50845081e-03 1.16120147e+02] [ 5.54481815e-01 8.32192201e-01 -2.46132842e-03 3.51965000e+01] [ 4.28448067e-03 1.02907956e-04 9.99990816e-01 3.29801311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.548623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.14, Y:35.21, Z:0.33 [[ 8.30985704e-01 -5.56282709e-01 -3.50818968e-03 1.16141264e+02] [ 5.56277270e-01 8.30993104e-01 -2.46170057e-03 3.52145268e+01] [ 4.28468289e-03 9.41118036e-05 9.99990816e-01 3.30115935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.16, Y:35.23, Z:0.33 [[ 8.29684581e-01 -5.58221454e-01 -3.50772697e-03 1.16162218e+02] [ 5.58216030e-01 8.29691991e-01 -2.46235971e-03 3.52319198e+01] [ 4.28487499e-03 8.49124647e-05 9.99990816e-01 3.30469659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.18, Y:35.25, Z:0.33 [[ 8.28238334e-01 -5.60365024e-01 -3.50741194e-03 1.16183225e+02] [ 5.60359617e-01 8.28245757e-01 -2.46280836e-03 3.52501196e+01] [ 4.28507073e-03 7.43802844e-05 9.99990816e-01 3.30343332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:35.27, Z:0.33 [[ 8.25656238e-01 -5.64162635e-01 -3.50695284e-03 1.16202973e+02] [ 5.64157259e-01 8.25663684e-01 -2.46346193e-03 3.52702324e+01] [ 4.28535677e-03 5.54998046e-05 9.99990816e-01 3.28816203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.668623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.22, Y:35.29, Z:0.33 [[ 8.24499363e-01 -5.65852016e-01 -3.50648965e-03 1.16223912e+02] [ 5.65846653e-01 8.24506818e-01 -2.46412106e-03 3.52872057e+01] [ 4.28545249e-03 4.75308124e-05 9.99990816e-01 3.28357760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:116.25, Y:35.31, Z:0.33 [[ 8.23326367e-01 -5.67557398e-01 -3.50623896e-03 1.16245920e+02] [ 5.67552048e-01 8.23333832e-01 -2.46447771e-03 3.53050297e+01] [ 4.28553772e-03 3.90963772e-05 9.99990816e-01 3.28063474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.27, Y:35.32, Z:0.33 [[ 8.22300923e-01 -5.69042091e-01 -3.50577944e-03 1.16266947e+02] [ 5.69036752e-01 8.22308396e-01 -2.46513122e-03 3.53224814e+01] [ 4.28559529e-03 3.21623279e-05 9.99990816e-01 3.27276009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:116.29, Y:35.34, Z:0.33 [[ 8.20148249e-01 -5.72140333e-01 -3.50553261e-03 1.16287352e+02] [ 5.72135021e-01 8.20155741e-01 -2.46548217e-03 3.53421888e+01] [ 4.28568449e-03 1.64229081e-05 9.99990816e-01 3.26461180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.31, Y:35.36, Z:0.33 [[ 8.19090905e-01 -5.73653035e-01 -3.50507302e-03 1.16309083e+02] [ 5.73647734e-01 8.19098404e-01 -2.46613539e-03 3.53599583e+01] [ 4.28570576e-03 9.31187319e-06 9.99990816e-01 3.26489419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.33, Y:35.38, Z:0.33 [[ 8.18011469e-01 -5.75191232e-01 -3.50461113e-03 1.16330506e+02] [ 5.75185943e-01 8.18018977e-01 -2.46679159e-03 3.53774379e+01] [ 4.28571531e-03 2.06075650e-06 9.99990816e-01 3.27193368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.35, Y:35.39, Z:0.33 [[ 8.17067632e-01 -5.76531184e-01 -3.50414606e-03 1.16351640e+02] [ 5.76525904e-01 8.17075146e-01 -2.46745206e-03 3.53942593e+01] [ 4.28571371e-03 -4.15576228e-06 9.99990816e-01 3.27670495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.37, Y:35.41, Z:0.33 [[ 8.15784303e-01 -5.78345653e-01 -3.50382807e-03 1.16371990e+02] [ 5.78340387e-01 8.15791828e-01 -2.46790353e-03 3.54119421e+01] [ 4.28569559e-03 -1.31283208e-05 9.99990816e-01 3.28923794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.39, Y:35.43, Z:0.33 [[ 8.15246580e-01 -5.79103392e-01 -3.50351361e-03 1.16393680e+02] [ 5.79098132e-01 8.15254108e-01 -2.46834988e-03 3.54290872e+01] [ 4.28568365e-03 -1.65643871e-05 9.99990816e-01 3.29606559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.42, Y:35.45, Z:0.33 [[ 8.15112660e-01 -5.79291878e-01 -3.50305370e-03 1.16415804e+02] [ 5.79286617e-01 8.15120187e-01 -2.46900240e-03 3.54464053e+01] [ 4.28568282e-03 -1.67570115e-05 9.99990816e-01 3.30928721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:116.44, Y:35.46, Z:0.33 [[ 8.15000392e-01 -5.79449819e-01 -3.50257501e-03 1.16438994e+02] [ 5.79444557e-01 8.15007918e-01 -2.46968129e-03 3.54629853e+01] [ 4.28568275e-03 -1.67568067e-05 9.99990816e-01 3.31050791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:35.48, Z:0.33 [[ 8.15148523e-01 -5.79241419e-01 -3.50209631e-03 1.16460089e+02] [ 5.79236151e-01 8.15156046e-01 -2.47035992e-03 3.54804596e+01] [ 4.28568976e-03 -1.48305493e-05 9.99990816e-01 3.31056918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.48, Y:35.50, Z:0.33 [[ 8.15559073e-01 -5.78663231e-01 -3.50183424e-03 1.16480257e+02] [ 5.78657957e-01 8.15566591e-01 -2.47073135e-03 3.54978692e+01] [ 4.28570040e-03 -1.13368743e-05 9.99990816e-01 3.30674657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.058623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:116.50, Y:35.52, Z:0.33 [[ 8.17068809e-01 -5.76529532e-01 -3.50141875e-03 1.16500164e+02] [ 5.76524235e-01 8.17076311e-01 -2.47132004e-03 3.55182683e+01] [ 4.28571530e-03 5.85754684e-07 9.99990816e-01 3.30120685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.52, Y:35.54, Z:0.33 [[ 8.17787727e-01 -5.75509319e-01 -3.50095232e-03 1.16521187e+02] [ 5.75504010e-01 8.17795221e-01 -2.47198061e-03 3.55362861e+01] [ 4.28570996e-03 6.74330059e-06 9.99990816e-01 3.29083322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:35.55, Z:0.33 [[ 8.18336799e-01 -5.74728309e-01 -3.50048677e-03 1.16542645e+02] [ 5.74722990e-01 8.18344286e-01 -2.47263969e-03 3.55543667e+01] [ 4.28569937e-03 1.16418204e-05 9.99990816e-01 3.29499448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.56, Y:35.57, Z:0.33 [[ 8.18991992e-01 -5.73794272e-01 -3.50000454e-03 1.16563689e+02] [ 5.73788942e-01 8.18999470e-01 -2.47332210e-03 3.55720474e+01] [ 4.28567992e-03 1.73670912e-05 9.99990816e-01 3.29190462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.178623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:116.58, Y:35.59, Z:0.33 [[ 8.19691837e-01 -5.72794068e-01 -3.49974025e-03 1.16583382e+02] [ 5.72788727e-01 8.19699308e-01 -2.47369601e-03 3.55915955e+01] [ 4.28565306e-03 2.30566674e-05 9.99990816e-01 3.29763113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.60, Y:35.61, Z:0.33 [[ 8.19698684e-01 -5.72784271e-01 -3.49948490e-03 1.16604445e+02] [ 5.72778929e-01 8.19706153e-01 -2.47405719e-03 3.56094506e+01] [ 4.28565035e-03 2.35502105e-05 9.99990816e-01 3.31969167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.62, Y:35.63, Z:0.33 [[ 8.19562567e-01 -5.72979019e-01 -3.49901407e-03 1.16624804e+02] [ 5.72973675e-01 8.19570036e-01 -2.47472290e-03 3.56268298e+01] [ 4.28565139e-03 2.33473069e-05 9.99990816e-01 3.32390847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.65, Y:35.65, Z:0.33 [[ 8.19068433e-01 -5.73685158e-01 -3.49875194e-03 1.16646325e+02] [ 5.73679819e-01 8.19075905e-01 -2.47509345e-03 3.56451508e+01] [ 4.28566779e-03 2.01075295e-05 9.99990816e-01 3.32901312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:35.66, Z:0.33 [[ 8.17683267e-01 -5.75657743e-01 -3.49827296e-03 1.16666614e+02] [ 5.75652419e-01 8.17690750e-01 -2.47577025e-03 3.56647019e+01] [ 4.28570175e-03 1.06066150e-05 9.99990816e-01 3.33154136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.69, Y:35.68, Z:0.33 [[ 8.16779392e-01 -5.76939502e-01 -3.49781742e-03 1.16687313e+02] [ 5.76934188e-01 8.16786882e-01 -2.47641367e-03 3.56818510e+01] [ 4.28571226e-03 4.67319914e-06 9.99990816e-01 3.32975203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:35.70, Z:0.33 [[ 8.15651827e-01 -5.78532509e-01 -3.49754889e-03 1.16708327e+02] [ 5.78527207e-01 8.15659326e-01 -2.47679286e-03 3.56991519e+01] [ 4.28571356e-03 -3.22656783e-06 9.99990816e-01 3.33296647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:35.72, Z:0.33 [[ 8.14448254e-01 -5.80225655e-01 -3.49729301e-03 1.16729200e+02] [ 5.80220367e-01 8.14455763e-01 -2.47715412e-03 3.57157393e+01] [ 4.28569882e-03 -1.16867854e-05 9.99990816e-01 3.33006964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:35.73, Z:0.33 [[ 8.11583227e-01 -5.84226358e-01 -3.49684456e-03 1.16750391e+02] [ 5.84221104e-01 8.11590760e-01 -2.47778701e-03 3.57339178e+01] [ 4.28559522e-03 -3.20000081e-05 9.99990816e-01 3.34452073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:35.75, Z:0.33 [[ 8.10056537e-01 -5.86341353e-01 -3.49636311e-03 1.16772641e+02] [ 5.86336116e-01 8.10064081e-01 -2.47846619e-03 3.57504181e+01] [ 4.28550539e-03 -4.23462321e-05 9.99990816e-01 3.34257574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:116.79, Y:35.77, Z:0.33 [[ 8.08446303e-01 -5.88559559e-01 -3.49586507e-03 1.16794332e+02] [ 5.88554340e-01 8.08453859e-01 -2.47916848e-03 3.57663677e+01] [ 4.28538391e-03 -5.32319725e-05 9.99990816e-01 3.33254977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.82, Y:35.78, Z:0.33 [[ 8.06866430e-01 -5.90723578e-01 -3.49552627e-03 1.16817061e+02] [ 5.90718377e-01 8.06873999e-01 -2.47964608e-03 3.57824845e+01] [ 4.28523466e-03 -6.41284300e-05 9.99990816e-01 3.33796158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:35.80, Z:0.33 [[ 8.05330686e-01 -5.92815546e-01 -3.49505072e-03 1.16839054e+02] [ 5.92810362e-01 8.05338266e-01 -2.48031618e-03 3.57984184e+01] [ 4.28506808e-03 -7.44275552e-05 9.99990816e-01 3.33716987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:116.86, Y:35.81, Z:0.33 [[ 8.02500245e-01 -5.96641554e-01 -3.49472686e-03 1.16862119e+02] [ 5.96636404e-01 8.02507848e-01 -2.48077241e-03 3.58144228e+01] [ 4.28467764e-03 -9.42607975e-05 9.99990816e-01 3.33582752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:116.88, Y:35.83, Z:0.33 [[ 8.01087542e-01 -5.98536999e-01 -3.49426449e-03 1.16884116e+02] [ 5.98531864e-01 8.01095156e-01 -2.48142351e-03 3.58292936e+01] [ 4.28446214e-03 -1.03591177e-04 9.99990816e-01 3.33177042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.91, Y:35.84, Z:0.33 [[ 7.99741684e-01 -6.00334100e-01 -3.49385172e-03 1.16907641e+02] [ 6.00328979e-01 7.99749308e-01 -2.48200456e-03 3.58447565e+01] [ 4.28423747e-03 -1.12497926e-04 9.99990816e-01 3.33830130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.93, Y:35.86, Z:0.33 [[ 7.98353603e-01 -6.02178811e-01 -3.49337556e-03 1.16930262e+02] [ 6.02173706e-01 7.98361237e-01 -2.48267457e-03 3.58595810e+01] [ 4.28398965e-03 -1.21566718e-04 9.99990816e-01 3.33882044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:116.96, Y:35.87, Z:0.33 [[ 7.96093558e-01 -6.05163486e-01 -3.49311518e-03 1.16955069e+02] [ 6.05158407e-01 7.96101210e-01 -2.48304086e-03 3.58736009e+01] [ 4.28351888e-03 -1.37155185e-04 9.99990816e-01 3.33814681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.98, Y:35.89, Z:0.33 [[ 7.95038981e-01 -6.06548284e-01 -3.49264036e-03 1.16977941e+02] [ 6.06543215e-01 7.95046640e-01 -2.48370856e-03 3.58883193e+01] [ 4.28330115e-03 -1.43792198e-04 9.99990816e-01 3.33395670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.00, Y:35.90, Z:0.33 [[ 7.94131161e-01 -6.07736376e-01 -3.49237980e-03 1.17001913e+02] [ 6.07731318e-01 7.94138826e-01 -2.48407488e-03 3.59036358e+01] [ 4.28309706e-03 -1.49747313e-04 9.99990816e-01 3.34180726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.02, Y:35.92, Z:0.33 [[ 7.93515491e-01 -6.08540033e-01 -3.49190978e-03 1.17024904e+02] [ 6.08534979e-01 7.93523160e-01 -2.48473542e-03 3.59179178e+01] [ 4.28297226e-03 -1.53273200e-04 9.99990816e-01 3.34914295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:35.93, Z:0.34 [[ 7.92866161e-01 -6.09385806e-01 -3.49148704e-03 1.17048372e+02] [ 6.09380758e-01 7.92873833e-01 -2.48532930e-03 3.59331421e+01] [ 4.28283311e-03 -1.57111520e-04 9.99990816e-01 3.35824630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.07, Y:35.95, Z:0.34 [[ 7.92506629e-01 -6.09853307e-01 -3.49101756e-03 1.17072608e+02] [ 6.09848260e-01 7.92514302e-01 -2.48598859e-03 3.59462250e+01] [ 4.28276971e-03 -1.58828545e-04 9.99990816e-01 3.36999490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.10, Y:35.96, Z:0.34 [[ 7.92512107e-01 -6.09846190e-01 -3.49069796e-03 1.17096585e+02] [ 6.09841142e-01 7.92519778e-01 -2.48643727e-03 3.59604690e+01] [ 4.28279147e-03 -1.58239587e-04 9.99990816e-01 3.37273923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.898623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.12, Y:35.98, Z:0.34 [[ 7.92807433e-01 -6.09462215e-01 -3.49023269e-03 1.17121117e+02] [ 6.09457160e-01 7.92815101e-01 -2.48709020e-03 3.59750749e+01] [ 4.28289669e-03 -1.55363703e-04 9.99990816e-01 3.36727189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.15, Y:35.99, Z:0.34 [[ 7.93403908e-01 -6.08685519e-01 -3.48976624e-03 1.17145304e+02] [ 6.08680453e-01 7.93411568e-01 -2.48774454e-03 3.59898768e+01] [ 4.28307498e-03 -1.50366256e-04 9.99990816e-01 3.36187645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.958623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.17, Y:36.00, Z:0.34 [[ 7.95089731e-01 -6.06481776e-01 -3.48930223e-03 1.17170066e+02] [ 6.06476687e-01 7.95097375e-01 -2.48839518e-03 3.60027956e+01] [ 4.28350137e-03 -1.37682999e-04 9.99990816e-01 3.35240734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.19, Y:36.02, Z:0.33 [[ 7.96021578e-01 -6.05258189e-01 -3.48883859e-03 1.17193368e+02] [ 6.05253085e-01 7.96029213e-01 -2.48904505e-03 3.60168998e+01] [ 4.28373234e-03 -1.30296746e-04 9.99990816e-01 3.34926225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.22, Y:36.03, Z:0.34 [[ 7.96888410e-01 -6.04116456e-01 -3.48852168e-03 1.17216603e+02] [ 6.04111339e-01 7.96896036e-01 -2.48948913e-03 3.60312086e+01] [ 4.28393046e-03 -1.23610468e-04 9.99990816e-01 3.35139511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.048623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:117.24, Y:36.05, Z:0.34 [[ 7.97840358e-01 -6.02858686e-01 -3.48810931e-03 1.17240645e+02] [ 6.02853555e-01 7.97847975e-01 -2.49006680e-03 3.60464108e+01] [ 4.28413934e-03 -1.16143310e-04 9.99990816e-01 3.35420669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.078623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.26, Y:36.06, Z:0.34 [[ 7.98807958e-01 -6.01575999e-01 -3.48765314e-03 1.17263516e+02] [ 6.01570852e-01 7.98815564e-01 -2.49070555e-03 3.60607690e+01] [ 4.28434029e-03 -1.08475059e-04 9.99990816e-01 3.35745020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.108623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.29, Y:36.08, Z:0.34 [[ 7.99812196e-01 -6.00240194e-01 -3.48734154e-03 1.17287179e+02] [ 6.00235033e-01 7.99819792e-01 -2.49114177e-03 3.60750911e+01] [ 4.28452820e-03 -1.00778997e-04 9.99990816e-01 3.36554054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.138623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.31, Y:36.09, Z:0.34 [[ 8.01754995e-01 -5.97642677e-01 -3.48688806e-03 1.17312537e+02] [ 5.97637488e-01 8.01762573e-01 -2.49177635e-03 3.60866210e+01] [ 4.28484823e-03 -8.61008874e-05 9.99990816e-01 3.37385673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.168623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.34, Y:36.10, Z:0.34 [[ 8.02583493e-01 -5.96529614e-01 -3.48647904e-03 1.17336566e+02] [ 5.96524413e-01 8.02591062e-01 -2.49234851e-03 3.61013279e+01] [ 4.28497661e-03 -7.94520909e-05 9.99990816e-01 3.37987972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.36, Y:36.12, Z:0.34 [[ 8.03388206e-01 -5.95445412e-01 -3.48600838e-03 1.17360105e+02] [ 5.95440197e-01 8.03395766e-01 -2.49300663e-03 3.61156704e+01] [ 4.28509374e-03 -7.28573921e-05 9.99990816e-01 3.37984981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.38, Y:36.13, Z:0.34 [[ 8.03977553e-01 -5.94649431e-01 -3.48558633e-03 1.17382938e+02] [ 5.94644206e-01 8.03985106e-01 -2.49359659e-03 3.61297684e+01] [ 4.28517528e-03 -6.78880308e-05 9.99990816e-01 3.37476800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.41, Y:36.14, Z:0.34 [[ 8.04830000e-01 -5.93495176e-01 -3.48516632e-03 1.17408266e+02] [ 5.93489939e-01 8.04837544e-01 -2.49418348e-03 3.61426378e+01] [ 4.28527856e-03 -6.10174537e-05 9.99990816e-01 3.36036187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.43, Y:36.16, Z:0.34 [[ 8.05058055e-01 -5.93185793e-01 -3.48471658e-03 1.17431732e+02] [ 5.93180550e-01 8.05065595e-01 -2.49481166e-03 3.61562982e+01] [ 4.28531226e-03 -5.85978758e-05 9.99990816e-01 3.35226374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.46, Y:36.17, Z:0.34 [[ 8.05209527e-01 -5.92980166e-01 -3.48431257e-03 1.17455968e+02] [ 5.92974918e-01 8.05217064e-01 -2.49537579e-03 3.61706173e+01] [ 4.28533628e-03 -5.68096013e-05 9.99990816e-01 3.35661445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.48, Y:36.18, Z:0.34 [[ 8.05351877e-01 -5.92786822e-01 -3.48387230e-03 1.17482133e+02] [ 5.92781570e-01 8.05359411e-01 -2.49599030e-03 3.61827227e+01] [ 4.28535951e-03 -5.50248162e-05 9.99990816e-01 3.38740562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.51, Y:36.20, Z:0.34 [[ 8.05378253e-01 -5.92750990e-01 -3.48339859e-03 1.17505831e+02] [ 5.92745734e-01 8.05385784e-01 -2.49665124e-03 3.61963468e+01] [ 4.28537220e-03 -5.40210378e-05 9.99990816e-01 3.39393352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:36.21, Z:0.34 [[ 8.05411420e-01 -5.92705924e-01 -3.48307631e-03 1.17529567e+02] [ 5.92700666e-01 8.05418950e-01 -2.49710077e-03 3.62101092e+01] [ 4.28538209e-03 -5.32281712e-05 9.99990816e-01 3.39040496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.55, Y:36.22, Z:0.34 [[ 8.05411995e-01 -5.92705144e-01 -3.48275658e-03 1.17553720e+02] [ 5.92699885e-01 8.05419524e-01 -2.49754663e-03 3.62247156e+01] [ 4.28538888e-03 -5.26754124e-05 9.99990816e-01 3.39034164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.58, Y:36.24, Z:0.34 [[ 8.05588232e-01 -5.92465590e-01 -3.48229824e-03 1.17578065e+02] [ 5.92460325e-01 8.05595756e-01 -2.49818552e-03 3.62393161e+01] [ 4.28541364e-03 -5.06146966e-05 9.99990816e-01 3.38965559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.60, Y:36.25, Z:0.34 [[ 8.05785255e-01 -5.92197603e-01 -3.48182795e-03 1.17601882e+02] [ 5.92192332e-01 8.05792776e-01 -2.49884082e-03 3.62537426e+01] [ 4.28543935e-03 -4.83827311e-05 9.99990816e-01 3.38942153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:36.27, Z:0.34 [[ 8.06590049e-01 -5.91100984e-01 -3.48135753e-03 1.17627138e+02] [ 5.91095701e-01 8.06597561e-01 -2.49949603e-03 3.62658413e+01] [ 4.28550905e-03 -4.17468479e-05 9.99990816e-01 3.38677583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:36.28, Z:0.34 [[ 8.07001374e-01 -5.90539300e-01 -3.48088757e-03 1.17651189e+02] [ 5.90534009e-01 8.07008880e-01 -2.50015035e-03 3.62797147e+01] [ 4.28554421e-03 -3.79577255e-05 9.99990816e-01 3.38497316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.67, Y:36.29, Z:0.34 [[ 8.07479113e-01 -5.89885895e-01 -3.48041055e-03 1.17674952e+02] [ 5.89880595e-01 8.07486613e-01 -2.50081422e-03 3.62937946e+01] [ 4.28557996e-03 -3.36713997e-05 9.99990816e-01 3.38395321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:36.31, Z:0.34 [[ 8.08719489e-01 -5.88184220e-01 -3.47998426e-03 1.17699389e+02] [ 5.88178902e-01 8.08726976e-01 -2.50140727e-03 3.63055159e+01] [ 4.28564543e-03 -2.39165129e-05 9.99990816e-01 3.37829130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.72, Y:36.32, Z:0.34 [[ 8.09234494e-01 -5.87475468e-01 -3.47956899e-03 1.17723642e+02] [ 5.87470141e-01 8.09241975e-01 -2.50198480e-03 3.63202597e+01] [ 4.28566797e-03 -1.94504735e-05 9.99990816e-01 3.37861474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.75, Y:36.33, Z:0.34 [[ 8.09721978e-01 -5.86803386e-01 -3.47910815e-03 1.17747965e+02] [ 5.86798050e-01 8.09729452e-01 -2.50262546e-03 3.63348611e+01] [ 4.28568543e-03 -1.51030399e-05 9.99990816e-01 3.37832642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:117.77, Y:36.35, Z:0.34 [[ 8.10235790e-01 -5.86093733e-01 -3.47864110e-03 1.17772501e+02] [ 5.86088387e-01 8.10243257e-01 -2.50327448e-03 3.63494217e+01] [ 4.28569898e-03 -1.05485785e-05 9.99990816e-01 3.37942715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:36.36, Z:0.34 [[ 8.11785790e-01 -5.83944975e-01 -3.47816846e-03 1.17797598e+02] [ 5.83939607e-01 8.11793241e-01 -2.50393102e-03 3.63619995e+01] [ 4.28571158e-03 1.61529419e-06 9.99990816e-01 3.37298533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.82, Y:36.38, Z:0.34 [[ 8.12947942e-01 -5.82325983e-01 -3.47768292e-03 1.17820590e+02] [ 5.82320597e-01 8.12955380e-01 -2.50460520e-03 3.63767017e+01] [ 4.28569772e-03 1.09872458e-05 9.99990816e-01 3.36600406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.798623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:117.84, Y:36.39, Z:0.34 [[ 8.14339112e-01 -5.80378944e-01 -3.47742001e-03 1.17843583e+02] [ 5.80373538e-01 8.14346536e-01 -2.50497017e-03 3.63916994e+01] [ 4.28565688e-03 2.16926236e-05 9.99990816e-01 3.36321214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:36.41, Z:0.34 [[ 8.16017000e-01 -5.78017444e-01 -3.47701098e-03 1.17867095e+02] [ 5.78012015e-01 8.16024407e-01 -2.50553780e-03 3.64073948e+01] [ 4.28557038e-03 3.48073168e-05 9.99990816e-01 3.36965066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:36.42, Z:0.34 [[ 8.19877723e-01 -5.72528106e-01 -3.47656410e-03 1.17890047e+02] [ 5.72522625e-01 8.19885092e-01 -2.50615771e-03 3.64233442e+01] [ 4.28522880e-03 6.43312776e-05 9.99990816e-01 3.37699726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:36.44, Z:0.34 [[ 8.19775185e-01 -5.72674918e-01 -3.47611365e-03 1.17913067e+02] [ 5.72669435e-01 8.19782553e-01 -2.50678234e-03 3.64401785e+01] [ 4.28522869e-03 6.43339102e-05 9.99990816e-01 3.37821795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.918623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.94, Y:36.46, Z:0.34 [[ 8.21621749e-01 -5.70022474e-01 -3.47566464e-03 1.17935784e+02] [ 5.70016965e-01 8.21629097e-01 -2.50740474e-03 3.64572371e+01] [ 4.28498425e-03 7.89504611e-05 9.99990816e-01 3.38443356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.96, Y:36.47, Z:0.34 [[ 8.23572311e-01 -5.67200645e-01 -3.47519530e-03 1.17956892e+02] [ 5.67195107e-01 8.23579638e-01 -2.50805507e-03 3.64733432e+01] [ 4.28467054e-03 9.44509423e-05 9.99990816e-01 3.37176111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.98, Y:36.49, Z:0.34 [[ 8.25210398e-01 -5.64814770e-01 -3.47494466e-03 1.17978623e+02] [ 5.64809210e-01 8.25217707e-01 -2.50840228e-03 3.64904716e+01] [ 4.28436852e-03 1.07278893e-04 9.99990816e-01 3.36552494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:36.51, Z:0.33 [[ 8.27927956e-01 -5.60823704e-01 -3.47447914e-03 1.17999156e+02] [ 5.60818107e-01 8.27935237e-01 -2.50904693e-03 3.65078936e+01] [ 4.28377670e-03 1.28759283e-04 9.99990816e-01 3.34606011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.02, Y:36.53, Z:0.34 [[ 8.28641376e-01 -5.59769060e-01 -3.47423481e-03 1.18020771e+02] [ 5.59763451e-01 8.28648648e-01 -2.50938519e-03 3.65262750e+01] [ 4.28359617e-03 1.34630728e-04 9.99990816e-01 3.35315629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.04, Y:36.54, Z:0.34 [[ 8.29278794e-01 -5.58824314e-01 -3.47376967e-03 1.18041031e+02] [ 5.58818695e-01 8.29286058e-01 -2.51002893e-03 3.65435144e+01] [ 4.28341395e-03 1.40306330e-04 9.99990816e-01 3.35655298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.06, Y:36.56, Z:0.34 [[ 8.29539519e-01 -5.58437214e-01 -3.47351415e-03 1.18061918e+02] [ 5.58431590e-01 8.29546779e-01 -2.51038249e-03 3.65618260e+01] [ 4.28333347e-03 1.42741455e-04 9.99990816e-01 3.36453442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.08, Y:36.58, Z:0.34 [[ 8.29467260e-01 -5.58544539e-01 -3.47305102e-03 1.18082158e+02] [ 5.58538913e-01 8.29474519e-01 -2.51102305e-03 3.65821094e+01] [ 4.28332554e-03 1.42977266e-04 9.99990816e-01 3.38223350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.10, Y:36.60, Z:0.34 [[ 8.29109532e-01 -5.59075420e-01 -3.47258260e-03 1.18103057e+02] [ 5.59069795e-01 8.29116792e-01 -2.51167068e-03 3.65999091e+01] [ 4.28338988e-03 1.41034062e-04 9.99990816e-01 3.38673772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.12, Y:36.62, Z:0.34 [[ 8.28413169e-01 -5.60106744e-01 -3.47232603e-03 1.18124685e+02] [ 5.60101127e-01 8.28420435e-01 -2.51202532e-03 3.66181393e+01] [ 4.28354817e-03 1.36141134e-04 9.99990816e-01 3.39020028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.218623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.15, Y:36.64, Z:0.34 [[ 8.27771752e-01 -5.61054251e-01 -3.47185640e-03 1.18145091e+02] [ 5.61048640e-01 8.27779023e-01 -2.51267424e-03 3.66353528e+01] [ 4.28367646e-03 1.32040445e-04 9.99990816e-01 3.38255501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.16, Y:36.66, Z:0.34 [[ 8.26062275e-01 -5.63568155e-01 -3.47160342e-03 1.18164656e+02] [ 5.63562565e-01 8.26069562e-01 -2.51302371e-03 3.66551863e+01] [ 4.28404605e-03 1.19448359e-04 9.99990816e-01 3.36706810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.19, Y:36.67, Z:0.34 [[ 8.24981505e-01 -5.65149065e-01 -3.47136556e-03 1.18185758e+02] [ 5.65143487e-01 8.24988801e-01 -2.51335224e-03 3.66738625e+01] [ 4.28425638e-03 1.11649475e-04 9.99990816e-01 3.36403076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.21, Y:36.69, Z:0.34 [[ 8.23750525e-01 -5.66941819e-01 -3.47090270e-03 1.18206832e+02] [ 5.66936254e-01 8.23757831e-01 -2.51399128e-03 3.66930828e+01] [ 4.28447007e-03 1.03121057e-04 9.99990816e-01 3.36036919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.23, Y:36.71, Z:0.34 [[ 8.22411927e-01 -5.68881867e-01 -3.47043281e-03 1.18227243e+02] [ 5.68876317e-01 8.22419244e-01 -2.51463977e-03 3.67120578e+01] [ 4.28468369e-03 9.38227020e-05 9.99990816e-01 3.35631731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.25, Y:36.73, Z:0.34 [[ 8.19852307e-01 -5.72564541e-01 -3.46995736e-03 1.18246178e+02] [ 5.72559021e-01 8.19859647e-01 -2.51529567e-03 3.67313423e+01] [ 4.28504713e-03 7.54155713e-05 9.99990816e-01 3.36240976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.27, Y:36.75, Z:0.34 [[ 8.18425921e-01 -5.74601578e-01 -3.46963241e-03 1.18267879e+02] [ 5.74596075e-01 8.18433273e-01 -2.51574383e-03 3.67496036e+01] [ 4.28521299e-03 6.53127979e-05 9.99990816e-01 3.37064860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:36.77, Z:0.34 [[ 8.16935973e-01 -5.76717938e-01 -3.46916032e-03 1.18289094e+02] [ 5.76712451e-01 8.16943337e-01 -2.51639467e-03 3.67677270e+01] [ 4.28535735e-03 5.50253796e-05 9.99990816e-01 3.38867001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.458623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.31, Y:36.79, Z:0.34 [[ 8.15446552e-01 -5.78821984e-01 -3.46867055e-03 1.18309135e+02] [ 5.78816513e-01 8.15453928e-01 -2.51706960e-03 3.67857284e+01] [ 4.28547624e-03 4.48119386e-05 9.99990816e-01 3.40217289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.33, Y:36.81, Z:0.34 [[ 8.12827707e-01 -5.82493853e-01 -3.46839496e-03 1.18328419e+02] [ 5.82488414e-01 8.12835107e-01 -2.51744929e-03 3.68060741e+01] [ 4.28563192e-03 2.59526535e-05 9.99990816e-01 3.41845390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.35, Y:36.82, Z:0.34 [[ 8.11687921e-01 -5.84081067e-01 -3.46791148e-03 1.18348714e+02] [ 5.84075639e-01 8.11695329e-01 -2.51811513e-03 3.68238589e+01] [ 4.28567092e-03 1.84010242e-05 9.99990816e-01 3.41554545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.37, Y:36.84, Z:0.34 [[ 8.10510080e-01 -5.85714425e-01 -3.46742908e-03 1.18370086e+02] [ 5.85709009e-01 8.10517497e-01 -2.51877922e-03 3.68428597e+01] [ 4.28569726e-03 1.05914970e-05 9.99990816e-01 3.41707016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:36.86, Z:0.34 [[ 8.09529009e-01 -5.87069641e-01 -3.46695456e-03 1.18390937e+02] [ 5.87064235e-01 8.09536433e-01 -2.51943220e-03 3.68610484e+01] [ 4.28570819e-03 4.22842464e-06 9.99990816e-01 3.41718723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.41, Y:36.88, Z:0.34 [[ 8.08744467e-01 -5.88149956e-01 -3.46647620e-03 1.18411886e+02] [ 5.88144557e-01 8.08751896e-01 -2.52009020e-03 3.68787691e+01] [ 4.28571014e-03 -6.80111091e-07 9.99990816e-01 3.41262321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.43, Y:36.90, Z:0.34 [[ 8.07073182e-01 -5.90441247e-01 -3.46604751e-03 1.18431533e+02] [ 5.90435866e-01 8.07080624e-01 -2.52067967e-03 3.68992807e+01] [ 4.28569303e-03 -1.21058010e-05 9.99990816e-01 3.40377437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.45, Y:36.92, Z:0.34 [[ 8.06402066e-01 -5.91357505e-01 -3.46557778e-03 1.18452096e+02] [ 5.91352130e-01 8.06409512e-01 -2.52132532e-03 3.69180211e+01] [ 4.28567953e-03 -1.61748586e-05 9.99990816e-01 3.40265792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.47, Y:36.94, Z:0.34 [[ 8.05816475e-01 -5.92155218e-01 -3.46510020e-03 1.18472717e+02] [ 5.92149848e-01 8.05823925e-01 -2.52198149e-03 3.69361342e+01] [ 4.28566514e-03 -1.96043281e-05 9.99990816e-01 3.39812126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.49, Y:36.95, Z:0.34 [[ 8.05176981e-01 -5.93024472e-01 -3.46477359e-03 1.18494327e+02] [ 5.93019107e-01 8.05184436e-01 -2.52243011e-03 3.69547412e+01] [ 4.28564456e-03 -2.36742777e-05 9.99990816e-01 3.39115268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.51, Y:36.97, Z:0.34 [[ 8.04148768e-01 -5.94418000e-01 -3.46429819e-03 1.18513115e+02] [ 5.94412646e-01 8.04156229e-01 -2.52308286e-03 3.69741410e+01] [ 4.28560284e-03 -3.02886841e-05 9.99990816e-01 3.37832976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:36.99, Z:0.34 [[ 8.03747450e-01 -5.94960535e-01 -3.46382480e-03 1.18534099e+02] [ 5.94955183e-01 8.03754913e-01 -2.52373259e-03 3.69924063e+01] [ 4.28558749e-03 -3.23768877e-05 9.99990816e-01 3.37766772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:37.01, Z:0.34 [[ 8.03346387e-01 -5.95501962e-01 -3.46334484e-03 1.18554949e+02] [ 5.95496613e-01 8.03353852e-01 -2.52439108e-03 3.70102706e+01] [ 4.28557126e-03 -3.44496695e-05 9.99990816e-01 3.37815871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.58, Y:37.03, Z:0.34 [[ 8.02815830e-01 -5.96217033e-01 -3.46291199e-03 1.18575061e+02] [ 5.96211688e-01 8.02823298e-01 -2.52498471e-03 3.70305113e+01] [ 4.28554532e-03 -3.75309028e-05 9.99990816e-01 3.38288203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.60, Y:37.05, Z:0.34 [[ 8.02503104e-01 -5.96637897e-01 -3.46243793e-03 1.18596149e+02] [ 5.96632552e-01 8.02510572e-01 -2.52563461e-03 3.70495019e+01] [ 4.28553236e-03 -3.89735658e-05 9.99990816e-01 3.38510172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.62, Y:37.07, Z:0.34 [[ 8.02142945e-01 -5.97122023e-01 -3.46196475e-03 1.18617576e+02] [ 5.97116681e-01 8.02150415e-01 -2.52628304e-03 3.70682615e+01] [ 4.28551570e-03 -4.07567808e-05 9.99990816e-01 3.38508581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.64, Y:37.09, Z:0.34 [[ 8.01666353e-01 -5.97761723e-01 -3.46149440e-03 1.18639489e+02] [ 5.97756383e-01 8.01673825e-01 -2.52692735e-03 3.70864552e+01] [ 4.28548990e-03 -4.33777344e-05 9.99990816e-01 3.38738362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.66, Y:37.10, Z:0.34 [[ 8.00984388e-01 -5.98675231e-01 -3.46102282e-03 1.18661541e+02] [ 5.98669897e-01 8.00991864e-01 -2.52757309e-03 3.71044196e+01] [ 4.28544652e-03 -4.74635894e-05 9.99990816e-01 3.39166561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.68, Y:37.12, Z:0.34 [[ 8.00390876e-01 -5.99468490e-01 -3.46055047e-03 1.18682400e+02] [ 5.99463161e-01 8.00398355e-01 -2.52821963e-03 3.71216379e+01] [ 4.28540690e-03 -5.09085972e-05 9.99990816e-01 3.39069053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:118.70, Y:37.14, Z:0.35 [[ 7.99338291e-01 -6.00871304e-01 -3.46012507e-03 1.18701285e+02] [ 6.00865986e-01 7.99345778e-01 -2.52880170e-03 3.71411693e+01] [ 4.28532074e-03 -5.77034317e-05 9.99990816e-01 3.45170321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:37.16, Z:0.34 [[ 7.98901718e-01 -6.01451640e-01 -3.45971207e-03 1.18722307e+02] [ 6.01446324e-01 7.98909207e-01 -2.52936659e-03 3.71574831e+01] [ 4.28528752e-03 -6.01157918e-05 9.99990816e-01 3.39254496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:37.18, Z:0.34 [[ 7.98532354e-01 -6.01941952e-01 -3.45930006e-03 1.18743831e+02] [ 6.01936639e-01 7.98539844e-01 -2.52992996e-03 3.71750059e+01] [ 4.28525991e-03 -6.20485211e-05 9.99990816e-01 3.39763055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:37.19, Z:0.34 [[ 7.98600551e-01 -6.01851474e-01 -3.45883759e-03 1.18763964e+02] [ 6.01846157e-01 7.98608039e-01 -2.53056209e-03 3.71931392e+01] [ 4.28527802e-03 -6.07798325e-05 9.99990816e-01 3.40274949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:37.21, Z:0.34 [[ 7.98719787e-01 -6.01693228e-01 -3.45842056e-03 1.18785894e+02] [ 6.01687907e-01 7.98727273e-01 -2.53113189e-03 3.72114108e+01] [ 4.28529974e-03 -5.92247059e-05 9.99990816e-01 3.39843900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:37.23, Z:0.34 [[ 7.98904577e-01 -6.01447853e-01 -3.45796274e-03 1.18807435e+02] [ 6.01442527e-01 7.98912058e-01 -2.53175720e-03 3.72293486e+01] [ 4.28532806e-03 -5.71334308e-05 9.99990816e-01 3.39029212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.83, Y:37.25, Z:0.34 [[ 7.99083890e-01 -6.01209600e-01 -3.45750702e-03 1.18829436e+02] [ 6.01204269e-01 7.99091368e-01 -2.53237941e-03 3.72474450e+01] [ 4.28535482e-03 -5.50843907e-05 9.99990816e-01 3.37974756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.85, Y:37.27, Z:0.34 [[ 7.99264660e-01 -6.00969260e-01 -3.45705133e-03 1.18849173e+02] [ 6.00963925e-01 7.99272135e-01 -2.53300133e-03 3.72665276e+01] [ 4.28538073e-03 -5.30246825e-05 9.99990816e-01 3.36993441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.87, Y:37.28, Z:0.34 [[ 7.99274861e-01 -6.00955696e-01 -3.45664561e-03 1.18871065e+02] [ 6.00950358e-01 7.99282333e-01 -2.53355488e-03 3.72844964e+01] [ 4.28539000e-03 -5.22656933e-05 9.99990816e-01 3.36462908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:37.30, Z:0.34 [[ 7.98943685e-01 -6.01395913e-01 -3.45619603e-03 1.18892634e+02] [ 6.01390576e-01 7.98951158e-01 -2.53416803e-03 3.73023336e+01] [ 4.28537011e-03 -5.38661768e-05 9.99990816e-01 3.37194833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.328623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.91, Y:37.32, Z:0.34 [[ 7.98702569e-01 -6.01716099e-01 -3.45571312e-03 1.18914006e+02] [ 6.01710762e-01 7.98710043e-01 -2.53482637e-03 3.73196230e+01] [ 4.28535861e-03 -5.47674435e-05 9.99990816e-01 3.37050554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.93, Y:37.34, Z:0.34 [[ 7.98605689e-01 -6.01844677e-01 -3.45528002e-03 1.18934939e+02] [ 6.01839339e-01 7.98613162e-01 -2.53541660e-03 3.73370862e+01] [ 4.28535909e-03 -5.47253197e-05 9.99990816e-01 3.38883267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.96, Y:37.35, Z:0.34 [[ 7.98618143e-01 -6.01828152e-01 -3.45484452e-03 1.18956803e+02] [ 6.01822812e-01 7.98625614e-01 -2.53600989e-03 3.73545540e+01] [ 4.28536948e-03 -5.39007332e-05 9.99990816e-01 3.39523205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.418623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.98, Y:37.37, Z:0.34 [[ 7.98670090e-01 -6.01759217e-01 -3.45436839e-03 1.18977185e+02] [ 6.01753873e-01 7.98677558e-01 -2.53665827e-03 3.73717243e+01] [ 4.28538401e-03 -5.27264666e-05 9.99990816e-01 3.39413365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.00, Y:37.39, Z:0.34 [[ 7.99057555e-01 -6.01244621e-01 -3.45394063e-03 1.18997880e+02] [ 6.01239269e-01 7.99065018e-01 -2.53724058e-03 3.73913748e+01] [ 4.28542539e-03 -4.92434828e-05 9.99990816e-01 3.41120697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.02, Y:37.41, Z:0.34 [[ 7.99171467e-01 -6.01093204e-01 -3.45347150e-03 1.19019337e+02] [ 6.01087849e-01 7.99178927e-01 -2.53787897e-03 3.74090043e+01] [ 4.28544345e-03 -4.76392955e-05 9.99990816e-01 3.41311406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.04, Y:37.43, Z:0.34 [[ 7.99102108e-01 -6.01185410e-01 -3.45300464e-03 1.19041002e+02] [ 6.01180052e-01 7.99109567e-01 -2.53851400e-03 3.74270697e+01] [ 4.28544663e-03 -4.73456183e-05 9.99990816e-01 3.41235926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.06, Y:37.45, Z:0.34 [[ 7.98999829e-01 -6.01321339e-01 -3.45254053e-03 1.19062906e+02] [ 6.01315980e-01 7.99007287e-01 -2.53914508e-03 3.74451819e+01] [ 4.28544716e-03 -4.72913091e-05 9.99990816e-01 3.40428689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.08, Y:37.46, Z:0.34 [[ 7.98354771e-01 -6.02177501e-01 -3.45207277e-03 1.19084423e+02] [ 6.02172147e-01 7.98362233e-01 -2.53978085e-03 3.74623057e+01] [ 4.28540341e-03 -5.10959068e-05 9.99990816e-01 3.37805445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.11, Y:37.48, Z:0.34 [[ 7.97829648e-01 -6.02873070e-01 -3.45166842e-03 1.19106682e+02] [ 6.02867720e-01 7.97837113e-01 -2.54033026e-03 3.74794586e+01] [ 4.28536587e-03 -5.41486756e-05 9.99990816e-01 3.38223543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:37.50, Z:0.34 [[ 7.97328968e-01 -6.03535091e-01 -3.45119377e-03 1.19128198e+02] [ 6.03529745e-01 7.97336435e-01 -2.54097494e-03 3.74965746e+01] [ 4.28533008e-03 -5.69051632e-05 9.99990816e-01 3.37369377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:37.51, Z:0.34 [[ 7.96846087e-01 -6.04172497e-01 -3.45076952e-03 1.19150014e+02] [ 6.04167155e-01 7.96853556e-01 -2.54155096e-03 3.75139500e+01] [ 4.28529315e-03 -5.96166612e-05 9.99990816e-01 3.37749806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:37.53, Z:0.34 [[ 7.96264464e-01 -6.04938839e-01 -3.45030008e-03 1.19172379e+02] [ 6.04933501e-01 7.96271937e-01 -2.54218809e-03 3.75310095e+01] [ 4.28524544e-03 -6.29480645e-05 9.99990816e-01 3.38145480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.19, Y:37.55, Z:0.34 [[ 7.96034345e-01 -6.05241622e-01 -3.44982969e-03 1.19194796e+02] [ 6.05236283e-01 7.96041818e-01 -2.54282626e-03 3.75476373e+01] [ 4.28523299e-03 -6.37850602e-05 9.99990816e-01 3.38650666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.22, Y:37.56, Z:0.34 [[ 7.95923272e-01 -6.05387683e-01 -3.44936356e-03 1.19217615e+02] [ 6.05382343e-01 7.95930744e-01 -2.54345841e-03 3.75647054e+01] [ 4.28523290e-03 -6.37860565e-05 9.99990816e-01 3.38772733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:37.58, Z:0.34 [[ 7.95816985e-01 -6.05527399e-01 -3.44889673e-03 1.19240024e+02] [ 6.05522058e-01 7.95824456e-01 -2.54409127e-03 3.75819065e+01] [ 4.28523334e-03 -6.37519972e-05 9.99990816e-01 3.40171699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.26, Y:37.60, Z:0.34 [[ 7.96287147e-01 -6.04908992e-01 -3.44842440e-03 1.19262005e+02] [ 6.04903642e-01 7.96294612e-01 -2.54473134e-03 3.75997636e+01] [ 4.28529264e-03 -5.96276169e-05 9.99990816e-01 3.42022289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.28, Y:37.62, Z:0.34 [[ 7.96600599e-01 -6.04496152e-01 -3.44793852e-03 1.19284251e+02] [ 6.04490796e-01 7.96608058e-01 -2.54538951e-03 3.76164021e+01] [ 4.28533377e-03 -5.65882901e-05 9.99990816e-01 3.42306610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.31, Y:37.63, Z:0.34 [[ 7.97113410e-01 -6.03819780e-01 -3.44745073e-03 1.19305195e+02] [ 6.03814415e-01 7.97120863e-01 -2.54604999e-03 3.76326508e+01] [ 4.28539025e-03 -5.21298530e-05 9.99990816e-01 3.42249176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.33, Y:37.65, Z:0.35 [[ 7.98333189e-01 -6.02206141e-01 -3.44718324e-03 1.19325619e+02] [ 6.02200759e-01 7.98340630e-01 -2.54641211e-03 3.76512954e+01] [ 4.28549145e-03 -4.30110670e-05 9.99990816e-01 3.48466171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.35, Y:37.67, Z:0.34 [[ 7.98972920e-01 -6.01357126e-01 -3.44669872e-03 1.19347824e+02] [ 6.01351733e-01 7.98980354e-01 -2.54706776e-03 3.76689494e+01] [ 4.28554191e-03 -3.76400865e-05 9.99990816e-01 3.44469472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.37, Y:37.69, Z:0.34 [[ 7.99730676e-01 -6.00349040e-01 -3.44621372e-03 1.19368946e+02] [ 6.00343635e-01 7.99738100e-01 -2.54772380e-03 3.76855831e+01] [ 4.28559195e-03 -3.14195954e-05 9.99990816e-01 3.44788530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:37.70, Z:0.34 [[ 8.00274981e-01 -5.99623283e-01 -3.44588431e-03 1.19390998e+02] [ 5.99617869e-01 8.00282399e-01 -2.54816925e-03 3.77028134e+01] [ 4.28562218e-03 -2.69777071e-05 9.99990816e-01 3.44693126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:37.72, Z:0.34 [[ 8.01394721e-01 -5.98125932e-01 -3.44540512e-03 1.19411495e+02] [ 5.98120501e-01 8.01402127e-01 -2.54881701e-03 3.77198092e+01] [ 4.28566854e-03 -1.81589419e-05 9.99990816e-01 3.42180010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.048623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.43, Y:37.74, Z:0.34 [[ 8.01858973e-01 -5.97503406e-01 -3.44498144e-03 1.19433522e+02] [ 5.97497967e-01 8.01866373e-01 -2.54938953e-03 3.77377756e+01] [ 4.28568370e-03 -1.41185370e-05 9.99990816e-01 3.44342638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:37.76, Z:0.34 [[ 8.02362210e-01 -5.96827462e-01 -3.44450671e-03 1.19455027e+02] [ 5.96822015e-01 8.02369603e-01 -2.55003078e-03 3.77559114e+01] [ 4.28569588e-03 -9.70909729e-06 9.99990816e-01 3.44997306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.108623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:119.48, Y:37.77, Z:0.35 [[ 8.02933552e-01 -5.96058596e-01 -3.44403236e-03 1.19475405e+02] [ 5.96053138e-01 8.02940939e-01 -2.55067128e-03 3.77738384e+01] [ 4.28570411e-03 -4.80674453e-06 9.99990816e-01 3.52465372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.138623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:119.50, Y:37.79, Z:0.35 [[ 8.03556335e-01 -5.95218747e-01 -3.44371020e-03 1.19496058e+02] [ 5.95213280e-01 8.03563714e-01 -2.55110616e-03 3.77926648e+01] [ 4.28570677e-03 2.15470471e-07 9.99990816e-01 3.46169058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.168623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:119.52, Y:37.81, Z:0.35 [[ 8.03546006e-01 -5.95232695e-01 -3.44324039e-03 1.19517584e+02] [ 5.95227225e-01 8.03553383e-01 -2.55174010e-03 3.78105369e+01] [ 4.28570660e-03 9.30144155e-07 9.99990816e-01 3.45394434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19862385300002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:119.54, Y:37.83, Z:0.35 [[ 8.03504903e-01 -5.95288181e-01 -3.44276873e-03 1.19538560e+02] [ 5.95282710e-01 8.03512278e-01 -2.55237630e-03 3.78274804e+01] [ 4.28570639e-03 1.42617409e-06 9.99990816e-01 3.45255995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:119.56, Y:37.84, Z:0.35 [[ 8.03192210e-01 -5.95710016e-01 -3.44234652e-03 1.19559245e+02] [ 5.95704546e-01 8.03199587e-01 -2.55294559e-03 3.78446634e+01] [ 4.28570657e-03 -1.15459223e-07 9.99990816e-01 3.45342344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.58, Y:37.86, Z:0.34 [[ 8.02223712e-01 -5.97013626e-01 -3.44192870e-03 1.19580442e+02] [ 5.97008165e-01 8.02231095e-01 -2.55350879e-03 3.78633940e+01] [ 4.28570177e-03 -6.37424174e-06 9.99990816e-01 3.44646759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28862385300002 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:119.60, Y:37.88, Z:0.34 [[ 8.01359108e-01 -5.98173668e-01 -3.44146354e-03 1.19601506e+02] [ 5.98168215e-01 8.01366497e-01 -2.55413554e-03 3.78803012e+01] [ 4.28569021e-03 -1.17943232e-05 9.99990816e-01 3.44046741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31862385300002 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:119.62, Y:37.90, Z:0.34 [[ 8.00359706e-01 -5.99510218e-01 -3.44104718e-03 1.19623231e+02] [ 5.99504775e-01 8.00367103e-01 -2.55469636e-03 3.78975094e+01] [ 4.28566753e-03 -1.82481866e-05 9.99990816e-01 3.44412731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:119.65, Y:37.91, Z:0.35 [[ 7.99379045e-01 -6.00817198e-01 -3.44059037e-03 1.19645202e+02] [ 6.00811764e-01 7.99386449e-01 -2.55531143e-03 3.79145174e+01] [ 4.28563637e-03 -2.44847566e-05 9.99990816e-01 3.46251870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37862385300002 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:119.67, Y:37.93, Z:0.35 [[ 7.98519952e-01 -6.01958513e-01 -3.44010040e-03 1.19666644e+02] [ 6.01953087e-01 7.98527362e-01 -2.55597089e-03 3.79310522e+01] [ 4.28560273e-03 -2.97853007e-05 9.99990816e-01 3.46515847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40862385300002 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:119.69, Y:37.95, Z:0.35 [[ 7.97088132e-01 -6.03853192e-01 -3.43982737e-03 1.19687604e+02] [ 6.03847782e-01 7.97095553e-01 -2.55633828e-03 3.79480791e+01] [ 4.28552413e-03 -3.95052240e-05 9.99990816e-01 3.46054226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:119.71, Y:37.97, Z:0.35 [[ 7.96236624e-01 -6.04975544e-01 -3.43941889e-03 1.19709953e+02] [ 6.04970143e-01 7.96244051e-01 -2.55688775e-03 3.79656420e+01] [ 4.28547139e-03 -4.48580686e-05 9.99990816e-01 3.46695332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:119.73, Y:37.98, Z:0.35 [[ 7.95231675e-01 -6.06295931e-01 -3.43893763e-03 1.19731264e+02] [ 6.06290539e-01 7.95239109e-01 -2.55753487e-03 3.79819515e+01] [ 4.28540068e-03 -5.11626102e-05 9.99990816e-01 3.45619850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.498623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:119.75, Y:38.00, Z:0.35 [[ 7.93309223e-01 -6.08809210e-01 -3.43850498e-03 1.19753513e+02] [ 6.08803839e-01 7.93316672e-01 -2.55811642e-03 3.79992109e+01] [ 4.28522816e-03 -6.39976817e-05 9.99990816e-01 3.47948716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:119.77, Y:38.02, Z:0.35 [[ 7.92352028e-01 -6.10054459e-01 -3.43801751e-03 1.19774577e+02] [ 6.10049097e-01 7.92359484e-01 -2.55877139e-03 3.80156092e+01] [ 4.28513567e-03 -6.99117775e-05 9.99990816e-01 3.48727067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.558623853 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:119.80, Y:38.03, Z:0.36 [[ 7.91279760e-01 -6.11444620e-01 -3.43768641e-03 1.19796236e+02] [ 6.11439269e-01 7.91287224e-01 -2.55921615e-03 3.80331949e+01] [ 4.28501628e-03 -7.68805260e-05 9.99990816e-01 3.55256096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:119.82, Y:38.05, Z:0.35 [[ 7.89898833e-01 -6.13227543e-01 -3.43720814e-03 1.19819408e+02] [ 6.13222206e-01 7.89906307e-01 -2.55985832e-03 3.80485079e+01] [ 4.28484802e-03 -8.57432559e-05 9.99990816e-01 3.48419696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.618623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:119.84, Y:38.06, Z:0.35 [[ 7.89446116e-01 -6.13810247e-01 -3.43672891e-03 1.19841151e+02] [ 6.13804913e-01 7.89453591e-01 -2.56050156e-03 3.80647883e+01] [ 4.28480007e-03 -8.81030746e-05 9.99990816e-01 3.47637419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:119.86, Y:38.08, Z:0.35 [[ 7.89389025e-01 -6.13883669e-01 -3.43640212e-03 1.19863034e+02] [ 6.13878333e-01 7.89396500e-01 -2.56094006e-03 3.80815799e+01] [ 4.28480308e-03 -8.79548242e-05 9.99990816e-01 3.47211407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.678623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:119.88, Y:38.10, Z:0.35 [[ 7.89502186e-01 -6.13738131e-01 -3.43592539e-03 1.19884971e+02] [ 6.13732791e-01 7.89509657e-01 -2.56157951e-03 3.80981517e+01] [ 4.28483530e-03 -8.63674575e-05 9.99990816e-01 3.45953657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708623853 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:119.91, Y:38.11, Z:0.35 [[ 7.90723719e-01 -6.12163539e-01 -3.43545191e-03 1.19906884e+02] [ 6.12158182e-01 7.90731178e-01 -2.56221436e-03 3.81148652e+01] [ 4.28501315e-03 -7.70363305e-05 9.99990816e-01 3.52231673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.738623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:119.93, Y:38.13, Z:0.35 [[ 7.91751645e-01 -6.10833474e-01 -3.43497983e-03 1.19929722e+02] [ 6.10828101e-01 7.91759094e-01 -2.56284709e-03 3.81314332e+01] [ 4.28514931e-03 -6.90438070e-05 9.99990816e-01 3.46200340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.768623853 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:119.95, Y:38.15, Z:0.35 [[ 7.92802437e-01 -6.09469031e-01 -3.43449227e-03 1.19950765e+02] [ 6.09463643e-01 7.92809874e-01 -2.56350031e-03 3.81481731e+01] [ 4.28527343e-03 -6.08488745e-05 9.99990816e-01 3.45965069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.798623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:119.97, Y:38.17, Z:0.35 [[ 7.93818882e-01 -6.08144547e-01 -3.43416055e-03 1.19972305e+02] [ 6.08139144e-01 7.93826308e-01 -2.56394461e-03 3.81654469e+01] [ 4.28537593e-03 -5.31398153e-05 9.99990816e-01 3.46445083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.828623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:119.99, Y:38.18, Z:0.35 [[ 7.95742769e-01 -6.05625012e-01 -3.43367812e-03 1.19994039e+02] [ 6.05619583e-01 7.95750176e-01 -2.56459053e-03 3.81835362e+01] [ 4.28553014e-03 -3.87483447e-05 9.99990816e-01 3.45275085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.858623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:120.02, Y:38.20, Z:0.34 [[ 7.96706185e-01 -6.04357070e-01 -3.43319651e-03 1.20015136e+02] [ 6.04351626e-01 7.96713582e-01 -2.56523509e-03 3.82002896e+01] [ 4.28559225e-03 -3.11192318e-05 9.99990816e-01 3.44791005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.888623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:120.04, Y:38.22, Z:0.35 [[ 7.97563369e-01 -6.03225403e-01 -3.43293586e-03 1.20036407e+02] [ 6.03219948e-01 7.97570757e-01 -2.56558386e-03 3.82177900e+01] [ 4.28563461e-03 -2.45996821e-05 9.99990816e-01 3.45352455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.918623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:120.06, Y:38.24, Z:0.34 [[ 7.99386893e-01 -6.00806802e-01 -3.43244314e-03 1.20056916e+02] [ 6.00801321e-01 7.99394262e-01 -2.56624289e-03 3.82357375e+01] [ 4.28569154e-03 -1.07954380e-05 9.99990816e-01 3.43278331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94862385300002 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:120.08, Y:38.25, Z:0.34 [[ 8.00020220e-01 -5.99963222e-01 -3.43218905e-03 1.20078311e+02] [ 5.99957732e-01 8.00027582e-01 -2.56658268e-03 3.82530398e+01] [ 4.28570112e-03 -5.85032264e-06 9.99990816e-01 3.42662014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97862385300002 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:120.10, Y:38.27, Z:0.34 [[ 8.00519998e-01 -5.99296218e-01 -3.43171865e-03 1.20100347e+02] [ 5.99290719e-01 8.00527353e-01 -2.56721149e-03 3.82705122e+01] [ 4.28570478e-03 -1.49300180e-06 9.99990816e-01 3.44157489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00862385300002 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:120.12, Y:38.29, Z:0.34 [[ 8.01015813e-01 -5.98633355e-01 -3.43123406e-03 1.20121761e+02] [ 5.98627847e-01 8.01023162e-01 -2.56785901e-03 3.82874084e+01] [ 4.28570401e-03 2.86341660e-06 9.99990816e-01 3.42871699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03862385300002 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:120.14, Y:38.31, Z:0.34 [[ 8.01260109e-01 -5.98306332e-01 -3.43097558e-03 1.20143493e+02] [ 5.98300820e-01 8.01267455e-01 -2.56820432e-03 3.83052225e+01] [ 4.28570197e-03 5.04417686e-06 9.99990816e-01 3.42520744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06862385300002 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:120.17, Y:38.32, Z:0.34 [[ 8.01099304e-01 -5.98521626e-01 -3.43051879e-03 1.20165655e+02] [ 5.98516113e-01 8.01106649e-01 -2.56881433e-03 3.83226844e+01] [ 4.28570235e-03 4.65460173e-06 9.99990816e-01 3.42753956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:120.19, Y:38.34, Z:0.34 [[ 8.00818738e-01 -5.98896973e-01 -3.43005648e-03 1.20187884e+02] [ 5.98891461e-01 8.00826084e-01 -2.56943150e-03 3.83399374e+01] [ 4.28570344e-03 3.41735734e-06 9.99990816e-01 3.42941038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12862385300002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:120.21, Y:38.36, Z:0.35 [[ 8.00197177e-01 -5.99727202e-01 -3.42959531e-03 1.20209978e+02] [ 5.99721695e-01 8.00204526e-01 -2.57004690e-03 3.83576472e+01] [ 4.28570473e-03 -2.58438386e-07 9.99990816e-01 3.45168876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15862385300002 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:120.23, Y:38.38, Z:0.35 [[ 7.98999596e-01 -6.01321783e-01 -3.42911260e-03 1.20231906e+02] [ 6.01316288e-01 7.99006955e-01 -2.57069080e-03 3.83758578e+01] [ 4.28569719e-03 -8.00034380e-06 9.99990816e-01 3.46990142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18862385300002 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:120.25, Y:38.39, Z:0.35 [[ 7.98227127e-01 -6.02346826e-01 -3.42867765e-03 1.20253651e+02] [ 6.02341338e-01 7.98234490e-01 -2.57127079e-03 3.83926228e+01] [ 4.28568556e-03 -1.27761851e-05 9.99990816e-01 3.45887437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.218623853 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:120.28, Y:38.41, Z:0.35 [[ 7.97380986e-01 -6.03466494e-01 -3.42833996e-03 1.20275793e+02] [ 6.03461015e-01 7.97388356e-01 -2.57172096e-03 3.84090929e+01] [ 4.28566580e-03 -1.82281158e-05 9.99990816e-01 3.46567280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:120.30, Y:38.43, Z:0.35 [[ 7.96360710e-01 -6.04812259e-01 -3.42788896e-03 1.20297575e+02] [ 6.04806790e-01 7.96368087e-01 -2.57232196e-03 3.84259022e+01] [ 4.28563324e-03 -2.47143734e-05 9.99990816e-01 3.47751455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.278623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:120.32, Y:38.44, Z:0.35 [[ 7.95243386e-01 -6.06280637e-01 -3.42740121e-03 1.20318859e+02] [ 6.06275178e-01 7.95250771e-01 -2.57297169e-03 3.84424216e+01] [ 4.28558637e-03 -3.18095585e-05 9.99990816e-01 3.45907125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:120.34, Y:38.46, Z:0.35 [[ 7.94871665e-01 -6.06767906e-01 -3.42713096e-03 1.20341455e+02] [ 6.06762450e-01 7.94879052e-01 -2.57333161e-03 3.84597582e+01] [ 4.28556964e-03 -3.39860014e-05 9.99990816e-01 3.46460274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.338623853 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:120.36, Y:38.48, Z:0.35 [[ 7.94822918e-01 -6.06831762e-01 -3.42668893e-03 1.20364192e+02] [ 6.06826304e-01 7.94830304e-01 -2.57392008e-03 3.84766398e+01] [ 4.28557266e-03 -3.35943118e-05 9.99990816e-01 3.48983623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368623853 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:120.39, Y:38.49, Z:0.35 [[ 7.94810286e-01 -6.06848309e-01 -3.42618806e-03 1.20385274e+02] [ 6.06842848e-01 7.94817670e-01 -2.57458663e-03 3.84931092e+01] [ 4.28557835e-03 -3.28497821e-05 9.99990816e-01 3.49155971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.398623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:120.41, Y:38.51, Z:0.35 [[ 7.95114191e-01 -6.06450069e-01 -3.42591207e-03 1.20406626e+02] [ 6.06444604e-01 7.95121571e-01 -2.57495383e-03 3.85105350e+01] [ 4.28559751e-03 -3.02435562e-05 9.99990816e-01 3.50368433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:120.43, Y:38.53, Z:0.35 [[ 7.95307066e-01 -6.06197111e-01 -3.42541743e-03 1.20427668e+02] [ 6.06191640e-01 7.95314442e-01 -2.57561167e-03 3.85266605e+01] [ 4.28561231e-03 -2.80572436e-05 9.99990816e-01 3.50298354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.458623853 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:120.45, Y:38.54, Z:0.35 [[ 7.95378592e-01 -6.06103262e-01 -3.42507973e-03 1.20449951e+02] [ 6.06097789e-01 7.95385966e-01 -2.57606067e-03 3.85437681e+01] [ 4.28561913e-03 -2.69897412e-05 9.99990816e-01 3.50080140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:120.47, Y:38.56, Z:0.35 [[ 7.95449809e-01 -6.06009796e-01 -3.42459961e-03 1.20471822e+02] [ 6.06004319e-01 7.95457181e-01 -2.57669879e-03 3.85608053e+01] [ 4.28562705e-03 -2.56875925e-05 9.99990816e-01 3.50211085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.518623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:120.49, Y:38.58, Z:0.35 [[ 7.95539038e-01 -6.05892659e-01 -3.42411781e-03 1.20494134e+02] [ 6.05887178e-01 7.95546407e-01 -2.57733888e-03 3.85783756e+01] [ 4.28563532e-03 -2.42553787e-05 9.99990816e-01 3.50555576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.548623853 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:120.52, Y:38.60, Z:0.35 [[ 7.95663657e-01 -6.05729002e-01 -3.42363702e-03 1.20516505e+02] [ 6.05723517e-01 7.95671022e-01 -2.57797738e-03 3.85956024e+01] [ 4.28564443e-03 -2.25745405e-05 9.99990816e-01 3.50751487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.578623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:120.54, Y:38.61, Z:0.35 [[ 7.95613154e-01 -6.05795338e-01 -3.42315832e-03 1.20538127e+02] [ 6.05789850e-01 7.95620518e-01 -2.57861287e-03 3.86131001e+01] [ 4.28564665e-03 -2.21362510e-05 9.99990816e-01 3.51574822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.608623853 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:120.56, Y:38.63, Z:0.35 [[ 7.95685496e-01 -6.05700319e-01 -3.42267873e-03 1.20559870e+02] [ 6.05694828e-01 7.95692857e-01 -2.57924928e-03 3.86301784e+01] [ 4.28565313e-03 -2.08275595e-05 9.99990816e-01 3.52744965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.638623853 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:120.58, Y:38.65, Z:0.35 [[ 7.95853788e-01 -6.05479179e-01 -3.42219187e-03 1.20581511e+02] [ 6.05473683e-01 7.95861146e-01 -2.57989510e-03 3.86475479e+01] [ 4.28566231e-03 -1.88278251e-05 9.99990816e-01 3.53244258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.668623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:120.60, Y:38.66, Z:0.35 [[ 7.95984938e-01 -6.05306757e-01 -3.42170424e-03 1.20603028e+02] [ 6.05301257e-01 7.95992292e-01 -2.58054167e-03 3.86639373e+01] [ 4.28566951e-03 -1.70895805e-05 9.99990816e-01 3.52988539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69862385300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:120.63, Y:38.68, Z:0.35 [[ 7.95871485e-01 -6.05455921e-01 -3.42144104e-03 1.20625656e+02] [ 6.05450421e-01 7.95878840e-01 -2.58089059e-03 3.86812460e+01] [ 4.28566802e-03 -1.74556899e-05 9.99990816e-01 3.53110619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72862385300002 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:120.65, Y:38.70, Z:0.36 [[ 7.95919445e-01 -6.05392877e-01 -3.42095724e-03 1.20646534e+02] [ 6.05387373e-01 7.95926796e-01 -2.58153171e-03 3.86983943e+01] [ 4.28567244e-03 -1.63130353e-05 9.99990816e-01 3.59872099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75862385300002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:120.67, Y:38.72, Z:0.35 [[ 7.96382798e-01 -6.04783216e-01 -3.42062750e-03 1.20668748e+02] [ 6.04777705e-01 7.96390144e-01 -2.58196855e-03 3.87158379e+01] [ 4.28568527e-03 -1.24839152e-05 9.99990816e-01 3.52306305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78862385300002 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:120.69, Y:38.73, Z:0.35 [[ 7.96495734e-01 -6.04634475e-01 -3.42014628e-03 1.20689616e+02] [ 6.04628960e-01 7.96503077e-01 -2.58260583e-03 3.87328029e+01] [ 4.28568956e-03 -1.08849584e-05 9.99990816e-01 3.51999714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81862385300002 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:120.71, Y:38.75, Z:0.36 [[ 7.96795088e-01 -6.04239930e-01 -3.41971428e-03 1.20711588e+02] [ 6.04234408e-01 7.96802427e-01 -2.58317773e-03 3.87508934e+01] [ 4.28569577e-03 -8.04570250e-06 9.99990816e-01 3.56064356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84862385300002 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:120.73, Y:38.77, Z:0.36 [[ 7.97081791e-01 -6.03861679e-01 -3.41923966e-03 1.20732823e+02] [ 6.03856152e-01 7.97089124e-01 -2.58380581e-03 3.87682575e+01] [ 4.28570006e-03 -5.22434475e-06 9.99990816e-01 3.55519790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87862385300002 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:120.75, Y:38.79, Z:0.35 [[ 7.97479164e-01 -6.03336800e-01 -3.41881257e-03 1.20753749e+02] [ 6.03331265e-01 7.97486493e-01 -2.58437080e-03 3.87862510e+01] [ 4.28570285e-03 -1.69464600e-06 9.99990816e-01 3.50142025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90862385300002 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:120.78, Y:38.80, Z:0.35 [[ 7.97341764e-01 -6.03518372e-01 -3.41834172e-03 1.20775376e+02] [ 6.03512836e-01 7.97349092e-01 -2.58499345e-03 3.88034670e+01] [ 4.28570270e-03 -1.88986839e-06 9.99990816e-01 3.49316816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93862385300002 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:120.80, Y:38.82, Z:0.35 [[ 7.96946317e-01 -6.04040468e-01 -3.41786869e-03 1.20797855e+02] [ 6.04034934e-01 7.96953646e-01 -2.58561873e-03 3.88206228e+01] [ 4.28570126e-03 -3.91276702e-06 9.99990816e-01 3.49325438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968623853 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:120.82, Y:38.84, Z:0.35 [[ 7.96306850e-01 -6.04883230e-01 -3.41738079e-03 1.20820105e+02] [ 6.04877701e-01 7.96314183e-01 -2.58626342e-03 3.88373503e+01] [ 4.28569616e-03 -7.63815601e-06 9.99990816e-01 3.48962625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.998623853 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:120.84, Y:38.85, Z:0.35 [[ 7.94565689e-01 -6.07168585e-01 -3.41689479e-03 1.20841661e+02] [ 6.07163074e-01 7.94573036e-01 -2.58690535e-03 3.88542728e+01] [ 4.28566013e-03 -1.91461143e-05 9.99990816e-01 3.50110554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028623853 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:120.86, Y:38.87, Z:0.35 [[ 7.93551620e-01 -6.08493347e-01 -3.41662016e-03 1.20863679e+02] [ 6.08487847e-01 7.93558974e-01 -2.58726801e-03 3.88713058e+01] [ 4.28562496e-03 -2.58411302e-05 9.99990816e-01 3.50841322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.058623853 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:120.89, Y:38.89, Z:0.35 [[ 7.92296796e-01 -6.10126312e-01 -3.41614059e-03 1.20885913e+02] [ 6.10120825e-01 7.92304160e-01 -2.58790106e-03 3.88882747e+01] [ 4.28556894e-03 -3.38727926e-05 9.99990816e-01 3.51315844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088623853 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:120.91, Y:38.90, Z:0.35 [[ 7.91081585e-01 -6.11701119e-01 -3.41566013e-03 1.20907634e+02] [ 6.11695643e-01 7.91088958e-01 -2.58853505e-03 3.89040399e+01] [ 4.28550080e-03 -4.16020093e-05 9.99990816e-01 3.51410545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.118623853 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:120.93, Y:38.92, Z:0.35 [[ 7.88725324e-01 -6.14736285e-01 -3.41523056e-03 1.20930396e+02] [ 6.14730835e-01 7.88732716e-01 -2.58910169e-03 3.89196278e+01] [ 4.28531883e-03 -5.73574601e-05 9.99990816e-01 3.52017339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148623853 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:120.95, Y:38.94, Z:0.35 [[ 7.87708123e-01 -6.16039165e-01 -3.41475802e-03 1.20953318e+02] [ 6.16033725e-01 7.87715522e-01 -2.58972477e-03 3.89361680e+01] [ 4.28522978e-03 -6.36588629e-05 9.99990816e-01 3.52240906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.178623853 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:120.98, Y:38.95, Z:0.35 [[ 7.85967908e-01 -6.18257867e-01 -3.41428634e-03 1.20975768e+02] [ 6.18252445e-01 7.85975321e-01 -2.59034648e-03 3.89509167e+01] [ 4.28504689e-03 -7.49616720e-05 9.99990816e-01 3.53612865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208623853 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:121.00, Y:38.97, Z:0.36 [[ 7.85417849e-01 -6.18956500e-01 -3.41386168e-03 1.20997314e+02] [ 6.18951082e-01 7.85425264e-01 -2.59090603e-03 3.89671386e+01] [ 4.28499134e-03 -7.80695420e-05 9.99990816e-01 3.60769515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.238623853 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:121.02, Y:38.98, Z:0.35 [[ 7.84827747e-01 -6.19704572e-01 -3.41344365e-03 1.21019129e+02] [ 6.19699159e-01 7.84835165e-01 -2.59145666e-03 3.89824962e+01] [ 4.28492815e-03 -8.14610672e-05 9.99990816e-01 3.53031239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.268623853 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:121.04, Y:39.00, Z:0.35 [[ 7.84433548e-01 -6.20203482e-01 -3.41302494e-03 1.21041896e+02] [ 6.20198072e-01 7.84440969e-01 -2.59200799e-03 3.89988456e+01] [ 4.28488897e-03 -8.34934616e-05 9.99990816e-01 3.53457945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.298623853 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:121.06, Y:39.01, Z:0.35 [[ 7.83648487e-01 -6.21195142e-01 -3.41256478e-03 1.21064401e+02] [ 6.21189738e-01 7.83655912e-01 -2.59261368e-03 3.90136484e+01] [ 4.28479559e-03 -8.81524292e-05 9.99990816e-01 3.52440504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.328623853 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:121.09, Y:39.03, Z:0.35 [[ 7.83173757e-01 -6.21793554e-01 -3.41215340e-03 1.21087388e+02] [ 6.21788153e-01 7.83181185e-01 -2.59315498e-03 3.90303278e+01] [ 4.28474140e-03 -9.07456348e-05 9.99990816e-01 3.53033925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.358623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:121.11, Y:39.05, Z:0.35 [[ 7.82811338e-01 -6.22249765e-01 -3.41169076e-03 1.21109445e+02] [ 6.22244366e-01 7.82818767e-01 -2.59376352e-03 3.90466111e+01] [ 4.28470429e-03 -9.24778611e-05 9.99990816e-01 3.53085123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.388623853 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:121.13, Y:39.06, Z:0.35 [[ 7.82485052e-01 -6.22660025e-01 -3.41137499e-03 1.21132145e+02] [ 6.22654628e-01 7.82492482e-01 -2.59417876e-03 3.90627907e+01] [ 4.28466669e-03 -9.42023271e-05 9.99990816e-01 3.53568485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.418623853 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:121.16, Y:39.08, Z:0.36 [[ 7.81685304e-01 -6.23663733e-01 -3.41091807e-03 1.21155906e+02] [ 6.23658343e-01 7.81692739e-01 -2.59477939e-03 3.90771454e+01] [ 4.28455969e-03 -9.89465974e-05 9.99990816e-01 3.55676449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44862385300002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:121.18, Y:39.09, Z:0.36 [[ 7.81229985e-01 -6.24233995e-01 -3.41041653e-03 1.21178008e+02] [ 6.24228607e-01 7.81237422e-01 -2.59543842e-03 3.90918843e+01] [ 4.28450591e-03 -1.01245238e-04 9.99990816e-01 3.55249450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47862385300002 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:121.20, Y:39.11, Z:0.36 [[ 7.80758771e-01 -6.24823265e-01 -3.41014200e-03 1.21200379e+02] [ 6.24817881e-01 7.80766211e-01 -2.59579907e-03 3.91068284e+01] [ 4.28443930e-03 -1.04024810e-04 9.99990816e-01 3.56326852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50862385300002 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:121.22, Y:39.12, Z:0.36 [[ 7.79992949e-01 -6.25779014e-01 -3.40966855e-03 1.21222667e+02] [ 6.25773637e-01 7.80000394e-01 -2.59642082e-03 3.91221410e+01] [ 4.28432847e-03 -1.08490761e-04 9.99990816e-01 3.56666814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53862385300002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:121.25, Y:39.14, Z:0.36 [[ 7.78618141e-01 -6.27488779e-01 -3.40919853e-03 1.21247192e+02] [ 6.27483415e-01 7.78625596e-01 -2.59703783e-03 3.91355642e+01] [ 4.28410133e-03 -1.17114766e-04 9.99990816e-01 3.56317122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56862385300002 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:121.27, Y:39.15, Z:0.36 [[ 7.77937411e-01 -6.28332527e-01 -3.40875814e-03 1.21270509e+02] [ 6.28327169e-01 7.77944870e-01 -2.59761574e-03 3.91503388e+01] [ 4.28399237e-03 -1.21032889e-04 9.99990816e-01 3.56220395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59862385300002 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:121.29, Y:39.17, Z:0.36 [[ 7.77416786e-01 -6.28976569e-01 -3.40831550e-03 1.21293480e+02] [ 6.28971215e-01 7.77424247e-01 -2.59819639e-03 3.91650355e+01] [ 4.28391176e-03 -1.23850853e-04 9.99990816e-01 3.55732067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62862385300002 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:121.32, Y:39.18, Z:0.35 [[ 7.77225675e-01 -6.29212712e-01 -3.40784592e-03 1.21317334e+02] [ 6.29207357e-01 7.77233136e-01 -2.59881216e-03 3.91800986e+01] [ 4.28389641e-03 -1.24378190e-04 9.99990816e-01 3.54777008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65862385300002 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:121.34, Y:39.19, Z:0.35 [[ 7.77641280e-01 -6.28698997e-01 -3.40741071e-03 1.21342297e+02] [ 6.28693635e-01 7.77648736e-01 -2.59938266e-03 3.91921058e+01] [ 4.28399790e-03 -1.20830165e-04 9.99990816e-01 3.53593494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68862385300002 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:121.37, Y:39.21, Z:0.36 [[ 7.78087905e-01 -6.28146166e-01 -3.40695063e-03 1.21366425e+02] [ 6.28140796e-01 7.78095355e-01 -2.59998553e-03 3.92073222e+01] [ 4.28410340e-03 -1.17027382e-04 9.99990816e-01 3.55310642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.718623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:121.39, Y:39.22, Z:0.35 [[ 7.78821869e-01 -6.27235914e-01 -3.40646447e-03 1.21389454e+02] [ 6.27230533e-01 7.78829311e-01 -2.60062233e-03 3.92216963e+01] [ 4.28425810e-03 -1.11216984e-04 9.99990816e-01 3.53919264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748623853 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:121.41, Y:39.24, Z:0.36 [[ 7.79614900e-01 -6.26249955e-01 -3.40602577e-03 1.21413447e+02] [ 6.26244562e-01 7.79622334e-01 -2.60119677e-03 3.92368842e+01] [ 4.28441312e-03 -1.05073355e-04 9.99990816e-01 3.55510549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.778623853 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:121.44, Y:39.25, Z:0.36 [[ 7.81280518e-01 -6.24170774e-01 -3.40553038e-03 1.21439427e+02] [ 6.24165358e-01 7.81287935e-01 -2.60184518e-03 3.92496698e+01] [ 4.28469551e-03 -9.28431423e-05 9.99990816e-01 3.56221132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808623853 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:121.46, Y:39.26, Z:0.36 [[ 7.82090675e-01 -6.23155343e-01 -3.40506721e-03 1.21463469e+02] [ 6.23149915e-01 7.82098083e-01 -2.60245119e-03 3.92647731e+01] [ 4.28482790e-03 -8.65145298e-05 9.99990816e-01 3.56720609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.838623853 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:121.49, Y:39.28, Z:0.36 [[ 7.82941137e-01 -6.22086477e-01 -3.40456372e-03 1.21486762e+02] [ 6.22081036e-01 7.82948535e-01 -2.60310971e-03 3.92796612e+01] [ 4.28495752e-03 -7.98328519e-05 9.99990816e-01 3.56776733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868623853 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:121.51, Y:39.29, Z:0.36 [[ 7.83984298e-01 -6.20771320e-01 -3.40406174e-03 1.21510581e+02] [ 6.20765864e-01 7.83991685e-01 -2.60376597e-03 3.92949235e+01] [ 4.28509934e-03 -7.18136916e-05 9.99990816e-01 3.56245668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.898623853 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:121.53, Y:39.31, Z:0.35 [[ 7.86470957e-01 -6.17617883e-01 -3.40355519e-03 1.21534493e+02] [ 6.17612394e-01 7.86478320e-01 -2.60442795e-03 3.93075116e+01] [ 4.28536364e-03 -5.37709242e-05 9.99990816e-01 3.53317892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928623853 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:121.56, Y:39.32, Z:0.36 [[ 7.88028437e-01 -6.15629435e-01 -3.40310281e-03 1.21557533e+02] [ 6.15623924e-01 7.88035784e-01 -2.60501892e-03 3.93230645e+01] [ 4.28549312e-03 -4.22025216e-05 9.99990816e-01 3.55098391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.958623853 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:121.58, Y:39.34, Z:0.36 [[ 7.89653561e-01 -6.13543540e-01 -3.40261161e-03 1.21580089e+02] [ 6.13538008e-01 7.89660891e-01 -2.60566035e-03 3.93392230e+01] [ 4.28559540e-03 -3.00625730e-05 9.99990816e-01 3.55201476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:121.60, Y:39.36, Z:0.35 [[ 7.91445815e-01 -6.11229865e-01 -3.40211619e-03 1.21602139e+02] [ 6.11224309e-01 7.91453127e-01 -2.60630704e-03 3.93551150e+01] [ 4.28566820e-03 -1.67053155e-05 9.99990816e-01 3.54699404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.018623853 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:121.63, Y:39.37, Z:0.35 [[ 7.94999964e-01 -6.06599939e-01 -3.40167185e-03 1.21625128e+02] [ 6.06594337e-01 7.95007242e-01 -2.60688686e-03 3.93714299e+01] [ 4.28569116e-03 9.04007769e-06 9.99990816e-01 3.54212767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.048623853 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:121.65, Y:39.39, Z:0.35 [[ 7.96613763e-01 -6.04479069e-01 -3.40118353e-03 1.21646911e+02] [ 6.04473446e-01 7.96621023e-01 -2.60752380e-03 3.93878666e+01] [ 4.28564787e-03 2.12642165e-05 9.99990816e-01 3.53874064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.078623853 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:121.67, Y:39.40, Z:0.36 [[ 7.98041773e-01 -6.02592535e-01 -3.40085182e-03 1.21668900e+02] [ 6.02586892e-01 7.98049018e-01 -2.60795637e-03 3.94046138e+01] [ 4.28558149e-03 3.19494000e-05 9.99990816e-01 3.55007210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.108623853 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:121.69, Y:39.42, Z:0.36 [[ 7.99246353e-01 -6.00993931e-01 -3.40035440e-03 1.21691471e+02] [ 6.00988272e-01 7.99253585e-01 -2.60860476e-03 3.94217133e+01] [ 4.28550107e-03 4.13447234e-05 9.99990816e-01 3.56128296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.138623853 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:121.71, Y:39.44, Z:0.36 [[ 8.01156151e-01 -5.98445706e-01 -3.39984501e-03 1.21713973e+02] [ 5.98440020e-01 8.01163363e-01 -2.60926849e-03 3.94375537e+01] [ 4.28533678e-03 5.58281788e-05 9.99990816e-01 3.55567458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.168623853 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:121.74, Y:39.45, Z:0.36 [[ 8.01684171e-01 -5.97738181e-01 -3.39956293e-03 1.21735978e+02] [ 5.97732488e-01 8.01691377e-01 -2.60963596e-03 3.94545287e+01] [ 4.28527933e-03 6.00746365e-05 9.99990816e-01 3.56341886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19862385300002 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:121.76, Y:39.47, Z:0.36 [[ 8.02047786e-01 -5.97250195e-01 -3.39906593e-03 1.21757962e+02] [ 5.97244494e-01 8.02054986e-01 -2.61028314e-03 3.94722099e+01] [ 4.28522989e-03 6.34983976e-05 9.99990816e-01 3.56047700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22862385300002 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:121.78, Y:39.49, Z:0.36 [[ 8.02370752e-01 -5.96816242e-01 -3.39856836e-03 1.21779084e+02] [ 5.96810534e-01 8.02377947e-01 -2.61093081e-03 3.94897904e+01] [ 4.28518222e-03 6.66331146e-05 9.99990816e-01 3.56735642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25862385300002 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:121.80, Y:39.51, Z:0.36 [[ 8.02145935e-01 -5.97118372e-01 -3.39829381e-03 1.21800283e+02] [ 5.97112666e-01 8.02153131e-01 -2.61128811e-03 3.95073610e+01] [ 4.28520012e-03 6.54698721e-05 9.99990816e-01 3.57534190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28862385300002 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:121.82, Y:39.52, Z:0.36 [[ 8.01763589e-01 -5.97631662e-01 -3.39780692e-03 1.21821352e+02] [ 5.97625957e-01 8.01770786e-01 -2.61192149e-03 3.95246998e+01] [ 4.28522931e-03 6.35259305e-05 9.99990816e-01 3.57362824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31862385300002 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:121.84, Y:39.54, Z:0.36 [[ 8.01258995e-01 -5.98308016e-01 -3.39736855e-03 1.21843173e+02] [ 5.98302315e-01 8.01266195e-01 -2.61249157e-03 3.95418707e+01] [ 4.28527121e-03 6.06289027e-05 9.99990816e-01 3.56691539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34862385300002 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:121.87, Y:39.56, Z:0.36 [[ 7.99484349e-01 -6.00677315e-01 -3.39687822e-03 1.21865788e+02] [ 6.00671633e-01 7.99491564e-01 -2.61312895e-03 3.95583688e+01] [ 4.28542277e-03 4.87473117e-05 9.99990816e-01 3.56195542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37862385300002 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:121.89, Y:39.58, Z:0.36 [[ 7.98285852e-01 -6.02269178e-01 -3.39638630e-03 1.21887822e+02] [ 6.02263508e-01 7.98293076e-01 -2.61376817e-03 3.95756092e+01] [ 4.28550367e-03 4.10146237e-05 9.99990816e-01 3.56483036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40862385300002 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:121.91, Y:39.59, Z:0.36 [[ 7.96882864e-01 -6.04124300e-01 -3.39589546e-03 1.21909565e+02] [ 6.04118643e-01 7.96890099e-01 -2.61440573e-03 3.95929162e+01] [ 4.28558150e-03 3.18513677e-05 9.99990816e-01 3.56266091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43862385300002 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:121.93, Y:39.61, Z:0.36 [[ 7.95653292e-01 -6.05742776e-01 -3.39540406e-03 1.21930397e+02] [ 6.05737131e-01 7.95660536e-01 -2.61504377e-03 3.96093130e+01] [ 4.28563289e-03 2.39458697e-05 9.99990816e-01 3.55822892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:121.95, Y:39.63, Z:0.36 [[ 7.94283748e-01 -6.07537489e-01 -3.39506896e-03 1.21952741e+02] [ 6.07531859e-01 7.94291004e-01 -2.61547875e-03 3.96264652e+01] [ 4.28567413e-03 1.48197060e-05 9.99990816e-01 3.56361833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.498623853 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:121.97, Y:39.64, Z:0.36 [[ 7.92170026e-01 -6.10291018e-01 -3.39458043e-03 1.21974676e+02] [ 6.10285411e-01 7.92177299e-01 -2.61611265e-03 3.96430396e+01] [ 4.28569961e-03 7.43116904e-07 9.99990816e-01 3.57544910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:122.00, Y:39.66, Z:0.36 [[ 7.91360218e-01 -6.11340728e-01 -3.39413819e-03 1.21996379e+02] [ 6.11335128e-01 7.91367497e-01 -2.61668628e-03 3.96602248e+01] [ 4.28569754e-03 -4.21447763e-06 9.99990816e-01 3.57918658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.558623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:122.02, Y:39.68, Z:0.36 [[ 7.91246852e-01 -6.11487450e-01 -3.39365376e-03 1.22018825e+02] [ 6.11481849e-01 7.91254130e-01 -2.61731441e-03 3.96777878e+01] [ 4.28569747e-03 -4.21588212e-06 9.99990816e-01 3.58040727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:122.04, Y:39.70, Z:0.36 [[ 7.90666880e-01 -6.12237186e-01 -3.39316834e-03 1.22041258e+02] [ 6.12231588e-01 7.90674161e-01 -2.61794356e-03 3.96951001e+01] [ 4.28569293e-03 -7.48357483e-06 9.99990816e-01 3.58172033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.618623853 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:122.06, Y:39.71, Z:0.36 [[ 7.90065686e-01 -6.13012807e-01 -3.39268429e-03 1.22062309e+02] [ 6.13007214e-01 7.90072971e-01 -2.61857071e-03 3.97113532e+01] [ 4.28568554e-03 -1.08970805e-05 9.99990816e-01 3.58528614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:122.08, Y:39.73, Z:0.36 [[ 7.89531631e-01 -6.13700494e-01 -3.39224920e-03 1.22083001e+02] [ 6.13694905e-01 7.89538919e-01 -2.61913423e-03 3.97279639e+01] [ 4.28567674e-03 -1.39167289e-05 9.99990816e-01 3.58885478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.678623853 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:122.10, Y:39.75, Z:0.36 [[ 7.89306085e-01 -6.13990554e-01 -3.39181788e-03 1.22104699e+02] [ 6.13984966e-01 7.89313372e-01 -2.61969269e-03 3.97458322e+01] [ 4.28567377e-03 -1.47858016e-05 9.99990816e-01 3.59136188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:122.13, Y:39.76, Z:0.36 [[ 7.89358736e-01 -6.13922866e-01 -3.39132496e-03 1.22126253e+02] [ 6.13917274e-01 7.89366021e-01 -2.62033064e-03 3.97625859e+01] [ 4.28567758e-03 -1.36120929e-05 9.99990816e-01 3.58825375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.738623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:122.15, Y:39.78, Z:0.36 [[ 7.89252361e-01 -6.14059617e-01 -3.39088291e-03 1.22148179e+02] [ 6.14054023e-01 7.89259645e-01 -2.62090256e-03 3.97799843e+01] [ 4.28567746e-03 -1.36317618e-05 9.99990816e-01 3.59077712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.768623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:122.17, Y:39.80, Z:0.36 [[ 7.89400420e-01 -6.13869271e-01 -3.39040934e-03 1.22169039e+02] [ 6.13863673e-01 7.89407701e-01 -2.62151503e-03 3.97978418e+01] [ 4.28568276e-03 -1.18240619e-05 9.99990816e-01 3.59100841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.798623853 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:122.19, Y:39.82, Z:0.36 [[ 7.89459423e-01 -6.13793392e-01 -3.38998453e-03 1.22190696e+02] [ 6.13787791e-01 7.89466701e-01 -2.62206425e-03 3.98162173e+01] [ 4.28568561e-03 -1.07177896e-05 9.99990816e-01 3.63392296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.828623853 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:122.21, Y:39.83, Z:0.36 [[ 7.89259200e-01 -6.14050834e-01 -3.38951792e-03 1.22212034e+02] [ 6.14045233e-01 7.89266478e-01 -2.62266729e-03 3.98345896e+01] [ 4.28568391e-03 -1.13530339e-05 9.99990816e-01 3.60728400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.858623853 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:122.23, Y:39.85, Z:0.36 [[ 7.89052812e-01 -6.14316021e-01 -3.38905206e-03 1.22233415e+02] [ 6.14310420e-01 7.89060090e-01 -2.62326914e-03 3.98519155e+01] [ 4.28568199e-03 -1.20321035e-05 9.99990816e-01 3.61015464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.888623853 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:122.26, Y:39.87, Z:0.36 [[ 7.88660604e-01 -6.14819460e-01 -3.38858846e-03 1.22255236e+02] [ 6.14813861e-01 7.88667884e-01 -2.62386786e-03 3.98697366e+01] [ 4.28567591e-03 -1.40099398e-05 9.99990816e-01 3.61275054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.918623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:122.28, Y:39.89, Z:0.36 [[ 7.88270161e-01 -6.15319977e-01 -3.38812631e-03 1.22277368e+02] [ 6.15314381e-01 7.88277442e-01 -2.62446449e-03 3.98876929e+01] [ 4.28566897e-03 -1.59757949e-05 9.99990816e-01 3.61891495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94862385300002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:122.30, Y:39.90, Z:0.36 [[ 7.87749666e-01 -6.15986191e-01 -3.38766630e-03 1.22298169e+02] [ 6.15980597e-01 7.87756950e-01 -2.62505813e-03 3.99043689e+01] [ 4.28565723e-03 -1.88480442e-05 9.99990816e-01 3.61794399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97862385300002 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:122.32, Y:39.92, Z:0.36 [[ 7.87544918e-01 -6.16247945e-01 -3.38717872e-03 1.22319965e+02] [ 6.16242352e-01 7.87552201e-01 -2.62568712e-03 3.99220579e+01] [ 4.28565435e-03 -1.94764354e-05 9.99990816e-01 3.61582096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00862385300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:122.34, Y:39.94, Z:0.36 [[ 7.87417052e-01 -6.16411321e-01 -3.38672260e-03 1.22342020e+02] [ 6.16405726e-01 7.87424335e-01 -2.62627531e-03 3.99399137e+01] [ 4.28565362e-03 -1.96212378e-05 9.99990816e-01 3.61337035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03862385300002 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:122.36, Y:39.96, Z:0.36 [[ 7.87055783e-01 -6.16872537e-01 -3.38626699e-03 1.22363964e+02] [ 6.16866945e-01 7.87063067e-01 -2.62686263e-03 3.99573778e+01] [ 4.28564510e-03 -2.13887464e-05 9.99990816e-01 3.61431204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06862385300002 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:122.39, Y:39.97, Z:0.36 [[ 7.86175764e-01 -6.17993693e-01 -3.38581360e-03 1.22385150e+02] [ 6.17988108e-01 7.86183054e-01 -2.62744688e-03 3.99736944e+01] [ 4.28561488e-03 -2.67574826e-05 9.99990816e-01 3.61689171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09862385300002 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:122.41, Y:39.99, Z:0.36 [[ 7.85591922e-01 -6.18735704e-01 -3.38533438e-03 1.22407518e+02] [ 6.18730123e-01 7.85599216e-01 -2.62806419e-03 3.99911115e+01] [ 4.28559318e-03 -3.00223599e-05 9.99990816e-01 3.61099186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12862385300002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:122.43, Y:40.01, Z:0.36 [[ 7.85016608e-01 -6.19465469e-01 -3.38488589e-03 1.22429444e+02] [ 6.19459893e-01 7.85023905e-01 -2.62864171e-03 4.00078597e+01] [ 4.28556911e-03 -3.32736568e-05 9.99990816e-01 3.61101597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15862385300002 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:122.45, Y:40.02, Z:0.36 [[ 7.83692602e-01 -6.21139639e-01 -3.38443985e-03 1.22451725e+02] [ 6.21134076e-01 7.83699909e-01 -2.62921587e-03 4.00242518e+01] [ 4.28549540e-03 -4.16938938e-05 9.99990816e-01 3.61402600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18862385300002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:122.47, Y:40.04, Z:0.36 [[ 7.83401906e-01 -6.21506237e-01 -3.38394728e-03 1.22473026e+02] [ 6.21500675e-01 7.83409213e-01 -2.62984969e-03 4.00404252e+01] [ 4.28548346e-03 -4.28962556e-05 9.99990816e-01 3.60211685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.218623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:122.50, Y:40.06, Z:0.36 [[ 7.83194013e-01 -6.21768196e-01 -3.38350734e-03 1.22495431e+02] [ 6.21762633e-01 7.83201321e-01 -2.63041558e-03 4.00577602e+01] [ 4.28547617e-03 -4.36127049e-05 9.99990816e-01 3.60975774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:122.52, Y:40.07, Z:0.36 [[ 7.83208532e-01 -6.21749910e-01 -3.38301864e-03 1.22517009e+02] [ 6.21744345e-01 7.83215837e-01 -2.63104396e-03 4.00741784e+01] [ 4.28548512e-03 -4.27166297e-05 9.99990816e-01 3.59956981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.278623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:122.54, Y:40.09, Z:0.36 [[ 7.83361271e-01 -6.21557461e-01 -3.38258111e-03 1.22539525e+02] [ 6.21551892e-01 7.83368573e-01 -2.63160634e-03 4.00915289e+01] [ 4.28550229e-03 -4.09512054e-05 9.99990816e-01 3.59181322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308623853 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:122.56, Y:40.11, Z:0.36 [[ 7.84222859e-01 -6.20470038e-01 -3.38214315e-03 1.22562261e+02] [ 6.20464456e-01 7.84230152e-01 -2.63216909e-03 4.01086154e+01] [ 4.28556069e-03 -3.42924402e-05 9.99990816e-01 3.59896616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.338623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:122.58, Y:40.13, Z:0.36 [[ 7.84504574e-01 -6.20113810e-01 -3.38163891e-03 1.22583875e+02] [ 6.20108222e-01 7.84511862e-01 -2.63281674e-03 4.01255653e+01] [ 4.28558186e-03 -3.15253106e-05 9.99990816e-01 3.59111145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368623853 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:122.61, Y:40.14, Z:0.36 [[ 7.84850981e-01 -6.19675322e-01 -3.38118621e-03 1.22605161e+02] [ 6.19669727e-01 7.84858264e-01 -2.63339800e-03 4.01418965e+01] [ 4.28560369e-03 -2.83937334e-05 9.99990816e-01 3.58470244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.398623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:122.63, Y:40.16, Z:0.36 [[ 7.85045725e-01 -6.19428592e-01 -3.38073716e-03 1.22627675e+02] [ 6.19422992e-01 7.85053004e-01 -2.63397436e-03 4.01592875e+01] [ 4.28561689e-03 -2.63160194e-05 9.99990816e-01 3.58869459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:122.65, Y:40.18, Z:0.36 [[ 7.85843761e-01 -6.18415845e-01 -3.38024429e-03 1.22650011e+02] [ 6.18410233e-01 7.85851031e-01 -2.63460671e-03 4.01765231e+01] [ 4.28565100e-03 -1.99884147e-05 9.99990816e-01 3.59757852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.458623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:122.67, Y:40.19, Z:0.36 [[ 7.86113257e-01 -6.18073236e-01 -3.37974042e-03 1.22671172e+02] [ 6.18067618e-01 7.86120522e-01 -2.63525293e-03 4.01938345e+01] [ 4.28566261e-03 -1.73008493e-05 9.99990816e-01 3.60100486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:122.69, Y:40.21, Z:0.36 [[ 7.86451899e-01 -6.17642284e-01 -3.37928752e-03 1.22692657e+02] [ 6.17636660e-01 7.86459159e-01 -2.63583358e-03 4.02110059e+01] [ 4.28567389e-03 -1.42155369e-05 9.99990816e-01 3.60170631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.518623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:122.71, Y:40.23, Z:0.36 [[ 7.86728456e-01 -6.17289981e-01 -3.37879068e-03 1.22713906e+02] [ 6.17284351e-01 7.86735711e-01 -2.63647031e-03 4.02280087e+01] [ 4.28568199e-03 -1.14883906e-05 9.99990816e-01 3.59813539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.548623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:122.74, Y:40.25, Z:0.36 [[ 7.87348433e-01 -6.16499012e-01 -3.37834569e-03 1.22735699e+02] [ 6.16493372e-01 7.87355681e-01 -2.63704039e-03 4.02458215e+01] [ 4.28569247e-03 -6.45810564e-06 9.99990816e-01 3.60146917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.578623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:122.76, Y:40.26, Z:0.36 [[ 7.87559957e-01 -6.16228776e-01 -3.37785551e-03 1.22757435e+02] [ 6.16223131e-01 7.87567201e-01 -2.63766812e-03 4.02630923e+01] [ 4.28569521e-03 -4.19091080e-06 9.99990816e-01 3.59881792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.608623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:122.78, Y:40.28, Z:0.36 [[ 7.87850737e-01 -6.15856972e-01 -3.37736868e-03 1.22779831e+02] [ 6.15851320e-01 7.87857976e-01 -2.63829134e-03 4.02804351e+01] [ 4.28569696e-03 -1.37718704e-06 9.99990816e-01 3.60428223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.638623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:122.80, Y:40.30, Z:0.36 [[ 7.88234644e-01 -6.15365536e-01 -3.37686569e-03 1.22801360e+02] [ 6.15359877e-01 7.88241878e-01 -2.63893498e-03 4.02975455e+01] [ 4.28569659e-03 2.11231903e-06 9.99990816e-01 3.58641967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.668623853 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:122.82, Y:40.32, Z:0.36 [[ 7.89027660e-01 -6.14348396e-01 -3.37641594e-03 1.22822126e+02] [ 6.14342726e-01 7.89034884e-01 -2.63951028e-03 4.03156987e+01] [ 4.28568887e-03 8.37004637e-06 9.99990816e-01 3.59399944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69862385300002 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:122.84, Y:40.33, Z:0.36 [[ 7.89245913e-01 -6.14067986e-01 -3.37593983e-03 1.22843813e+02] [ 6.14062310e-01 7.89253133e-01 -2.64011909e-03 4.03340882e+01] [ 4.28568370e-03 1.06657894e-05 9.99990816e-01 3.59884525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72862385300002 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:122.86, Y:40.35, Z:0.36 [[ 7.89359763e-01 -6.13921633e-01 -3.37543025e-03 1.22864804e+02] [ 6.13915953e-01 7.89366980e-01 -2.64077043e-03 4.03516700e+01] [ 4.28567928e-03 1.22874396e-05 9.99990816e-01 3.59590635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75862385300002 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:122.89, Y:40.37, Z:0.36 [[ 7.89266693e-01 -6.14041283e-01 -3.37497325e-03 1.22885427e+02] [ 6.14035602e-01 7.89273908e-01 -2.64135437e-03 4.03692069e+01] [ 4.28567895e-03 1.23792976e-05 9.99990816e-01 3.59042612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:122.91, Y:40.39, Z:0.36 [[ 7.89039610e-01 -6.14333059e-01 -3.37452046e-03 1.22905835e+02] [ 6.14327378e-01 7.89046825e-01 -2.64193271e-03 4.03882161e+01] [ 4.28568126e-03 1.15292527e-05 9.99990816e-01 3.58686728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:122.93, Y:40.41, Z:0.36 [[ 7.88680252e-01 -6.14794337e-01 -3.37402666e-03 1.22927363e+02] [ 6.14788657e-01 7.88687469e-01 -2.64256319e-03 4.04068448e+01] [ 4.28568543e-03 9.82408268e-06 9.99990816e-01 3.58805827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:122.95, Y:40.42, Z:0.36 [[ 7.88129454e-01 -6.15500271e-01 -3.37352703e-03 1.22947497e+02] [ 6.15494596e-01 7.88136674e-01 -2.64320087e-03 4.04241532e+01] [ 4.28569123e-03 6.79679804e-06 9.99990816e-01 3.58117465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:122.97, Y:40.44, Z:0.36 [[ 7.86911941e-01 -6.17056091e-01 -3.37307899e-03 1.22969186e+02] [ 6.17050428e-01 7.86919170e-01 -2.64377251e-03 4.04421339e+01] [ 4.28569645e-03 -9.43676923e-07 9.99990816e-01 3.58765380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90862385300002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:122.99, Y:40.46, Z:0.36 [[ 7.86110781e-01 -6.18076424e-01 -3.37257113e-03 1.22990799e+02] [ 6.18070767e-01 7.86118016e-01 -2.64442021e-03 4.04599866e+01] [ 4.28569271e-03 -5.68039143e-06 9.99990816e-01 3.59105638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93862385300002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:123.01, Y:40.48, Z:0.36 [[ 7.85353377e-01 -6.19038530e-01 -3.37205931e-03 1.23011277e+02] [ 6.19032879e-01 7.85360616e-01 -2.64507270e-03 4.04771683e+01] [ 4.28568450e-03 -1.00988048e-05 9.99990816e-01 3.58796470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968623853 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:123.03, Y:40.49, Z:0.36 [[ 7.84509374e-01 -6.20107792e-01 -3.37160070e-03 1.23031828e+02] [ 6.20102149e-01 7.84516619e-01 -2.64565716e-03 4.04944729e+01] [ 4.28566940e-03 -1.51939957e-05 9.99990816e-01 3.57846979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.998623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:123.05, Y:40.51, Z:0.36 [[ 7.82690082e-01 -6.22402499e-01 -3.37114672e-03 1.23053354e+02] [ 6.22396874e-01 7.82697341e-01 -2.64623549e-03 4.05122151e+01] [ 4.28561116e-03 -2.70089080e-05 9.99990816e-01 3.59885870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:123.07, Y:40.53, Z:0.36 [[ 7.81655942e-01 -6.23700751e-01 -3.37064193e-03 1.23074350e+02] [ 6.23695136e-01 7.81663209e-01 -2.64687832e-03 4.05290401e+01] [ 4.28556678e-03 -3.33048070e-05 9.99990816e-01 3.60288416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.058623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:123.10, Y:40.55, Z:0.36 [[ 7.80480217e-01 -6.25171395e-01 -3.37018574e-03 1.23095389e+02] [ 6.25165790e-01 7.80487492e-01 -2.64745903e-03 4.05459776e+01] [ 4.28550348e-03 -4.06354324e-05 9.99990816e-01 3.60868603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:123.12, Y:40.56, Z:0.36 [[ 7.79364388e-01 -6.26561884e-01 -3.36984511e-03 1.23117397e+02] [ 6.26556291e-01 7.79371672e-01 -2.64789254e-03 4.05630939e+01] [ 4.28543036e-03 -4.77245079e-05 9.99990816e-01 3.61298887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.14, Y:40.58, Z:0.36 [[ 7.77396817e-01 -6.29001460e-01 -3.36935741e-03 1.23140045e+02] [ 6.28995887e-01 7.77404116e-01 -2.64851298e-03 4.05802181e+01] [ 4.28527085e-03 -6.03663944e-05 9.99990816e-01 3.60916033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:123.16, Y:40.60, Z:0.36 [[ 7.76550200e-01 -6.30046377e-01 -3.36886641e-03 1.23162089e+02] [ 6.30040811e-01 7.76557505e-01 -2.64913738e-03 4.05971789e+01] [ 4.28519790e-03 -6.53351649e-05 9.99990816e-01 3.60935973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.178623853 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:123.18, Y:40.61, Z:0.36 [[ 7.75799382e-01 -6.30970659e-01 -3.36837363e-03 1.23183193e+02] [ 6.30965099e-01 7.75806692e-01 -2.64976380e-03 4.06132827e+01] [ 4.28513001e-03 -6.96410823e-05 9.99990816e-01 3.60631651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:123.21, Y:40.63, Z:0.36 [[ 7.75276462e-01 -6.31613065e-01 -3.36793254e-03 1.23205196e+02] [ 6.31607509e-01 7.75283774e-01 -2.65032432e-03 4.06300189e+01] [ 4.28508292e-03 -7.24774119e-05 9.99990816e-01 3.60910670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.238623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:123.23, Y:40.65, Z:0.36 [[ 7.74915075e-01 -6.32056395e-01 -3.36744764e-03 1.23227240e+02] [ 6.32050840e-01 7.74922388e-01 -2.65094028e-03 4.06474359e+01] [ 4.28505432e-03 -7.41445230e-05 9.99990816e-01 3.61007122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.268623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:123.25, Y:40.66, Z:0.36 [[ 7.74871072e-01 -6.32110343e-01 -3.36696271e-03 1.23248309e+02] [ 6.32104786e-01 7.74878383e-01 -2.65155605e-03 4.06640231e+01] [ 4.28506262e-03 -7.36591607e-05 9.99990816e-01 3.60573011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.298623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.27, Y:40.68, Z:0.36 [[ 7.74765303e-01 -6.32239979e-01 -3.36663281e-03 1.23269230e+02] [ 6.32234421e-01 7.74772614e-01 -2.65197485e-03 4.06803758e+01] [ 4.28505943e-03 -7.38430439e-05 9.99990816e-01 3.60679158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.328623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.29, Y:40.70, Z:0.36 [[ 7.74818458e-01 -6.32174838e-01 -3.36619944e-03 1.23291352e+02] [ 6.32169278e-01 7.74825767e-01 -2.65252482e-03 4.06972990e+01] [ 4.28507751e-03 -7.27826770e-05 9.99990816e-01 3.61270294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.358623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:123.31, Y:40.71, Z:0.36 [[ 7.75026075e-01 -6.31920291e-01 -3.36571959e-03 1.23312342e+02] [ 6.31914726e-01 7.75033380e-01 -2.65313355e-03 4.07135165e+01] [ 4.28511396e-03 -7.06000882e-05 9.99990816e-01 3.61681449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.388623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:123.33, Y:40.73, Z:0.36 [[ 7.75646127e-01 -6.31159061e-01 -3.36521188e-03 1.23334792e+02] [ 6.31153486e-01 7.75653425e-01 -2.65377736e-03 4.07309042e+01] [ 4.28519375e-03 -6.55730769e-05 9.99990816e-01 3.62059243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.418623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:123.36, Y:40.75, Z:0.36 [[ 7.75954917e-01 -6.30779395e-01 -3.36473540e-03 1.23356851e+02] [ 6.30773813e-01 7.75962210e-01 -2.65438136e-03 4.07484275e+01] [ 4.28523658e-03 -6.27067028e-05 9.99990816e-01 3.63199319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:123.38, Y:40.76, Z:0.36 [[ 7.76279066e-01 -6.30380435e-01 -3.36425980e-03 1.23377816e+02] [ 6.30374847e-01 7.76286354e-01 -2.65498402e-03 4.07647780e+01] [ 4.28527895e-03 -5.97362419e-05 9.99990816e-01 3.63110678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.40, Y:40.78, Z:0.36 [[ 7.76545663e-01 -6.30051996e-01 -3.36391293e-03 1.23400168e+02] [ 6.30046403e-01 7.76552947e-01 -2.65542344e-03 4.07810404e+01] [ 4.28531133e-03 -5.73636853e-05 9.99990816e-01 3.62253900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.42, Y:40.80, Z:0.36 [[ 7.76424830e-01 -6.30200897e-01 -3.36340258e-03 1.23422418e+02] [ 6.30195302e-01 7.76432113e-01 -2.65606970e-03 4.07988495e+01] [ 4.28531128e-03 -5.73620380e-05 9.99990816e-01 3.62375970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.44, Y:40.82, Z:0.36 [[ 7.76557507e-01 -6.30037403e-01 -3.36289312e-03 1.23443696e+02] [ 6.30031804e-01 7.76564786e-01 -2.65671457e-03 4.08152662e+01] [ 4.28533393e-03 -5.56379771e-05 9.99990816e-01 3.61171635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.47, Y:40.83, Z:0.36 [[ 7.76722145e-01 -6.29834426e-01 -3.36243657e-03 1.23465134e+02] [ 6.29828822e-01 7.76729421e-01 -2.65729228e-03 4.08313550e+01] [ 4.28535756e-03 -5.37817077e-05 9.99990816e-01 3.61423874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:123.49, Y:40.85, Z:0.36 [[ 7.76868049e-01 -6.29654454e-01 -3.36193683e-03 1.23486830e+02] [ 6.29648846e-01 7.76875322e-01 -2.65792439e-03 4.08484277e+01] [ 4.28537968e-03 -5.19831088e-05 9.99990816e-01 3.61276440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:123.51, Y:40.87, Z:0.36 [[ 7.77476698e-01 -6.28902763e-01 -3.36147071e-03 1.23509256e+02] [ 6.28897145e-01 7.77483963e-01 -2.65851375e-03 4.08656785e+01] [ 4.28543621e-03 -4.70868409e-05 9.99990816e-01 3.62614629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:123.53, Y:40.88, Z:0.36 [[ 7.77762894e-01 -6.28548793e-01 -3.36097086e-03 1.23530475e+02] [ 6.28543169e-01 7.77770155e-01 -2.65914553e-03 4.08817516e+01] [ 4.28546554e-03 -4.43305541e-05 9.99990816e-01 3.62091043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:123.55, Y:40.90, Z:0.36 [[ 7.77926380e-01 -6.28346444e-01 -3.36047498e-03 1.23552745e+02] [ 6.28340816e-01 7.77933638e-01 -2.65977205e-03 4.08988137e+01] [ 4.28548483e-03 -4.24167474e-05 9.99990816e-01 3.63363089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.718623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:123.57, Y:40.92, Z:0.36 [[ 7.78108875e-01 -6.28120442e-01 -3.35997436e-03 1.23574599e+02] [ 6.28114809e-01 7.78116128e-01 -2.66040431e-03 4.09154781e+01] [ 4.28550457e-03 -4.03654478e-05 9.99990816e-01 3.62726383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.60, Y:40.93, Z:0.36 [[ 7.78204775e-01 -6.28001626e-01 -3.35952656e-03 1.23596167e+02] [ 6.27995990e-01 7.78212025e-01 -2.66096966e-03 4.09318838e+01] [ 4.28551724e-03 -3.89899096e-05 9.99990816e-01 3.62887712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.778623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.62, Y:40.95, Z:0.36 [[ 7.78844781e-01 -6.27207720e-01 -3.35903810e-03 1.23619736e+02] [ 6.27202073e-01 7.78852024e-01 -2.66158612e-03 4.09477993e+01] [ 4.28556098e-03 -3.38331999e-05 9.99990816e-01 3.63601213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.64, Y:40.96, Z:0.36 [[ 7.79140781e-01 -6.26839983e-01 -3.35851334e-03 1.23642046e+02] [ 6.26834330e-01 7.79148019e-01 -2.66224812e-03 4.09643152e+01] [ 4.28558258e-03 -3.09653865e-05 9.99990816e-01 3.63625029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.838623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.66, Y:40.98, Z:0.36 [[ 7.79418846e-01 -6.26494203e-01 -3.35799123e-03 1.23663382e+02] [ 6.26488544e-01 7.79426079e-01 -2.66290652e-03 4.09805693e+01] [ 4.28560143e-03 -2.82235105e-05 9.99990816e-01 3.63698520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:123.69, Y:41.00, Z:0.36 [[ 7.79582830e-01 -6.26290140e-01 -3.35752191e-03 1.23685385e+02] [ 6.26284476e-01 7.79590059e-01 -2.66349812e-03 4.09978334e+01] [ 4.28561332e-03 -2.63464517e-05 9.99990816e-01 3.64379341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.898623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:123.71, Y:41.01, Z:0.37 [[ 7.79852634e-01 -6.25954152e-01 -3.35700470e-03 1.23707915e+02] [ 6.25948483e-01 7.79859859e-01 -2.66414984e-03 4.10129722e+01] [ 4.28562887e-03 -2.36677297e-05 9.99990816e-01 3.65325873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.73, Y:41.03, Z:0.37 [[ 7.79698637e-01 -6.26145964e-01 -3.35653753e-03 1.23730734e+02] [ 6.26140294e-01 7.79705862e-01 -2.66473830e-03 4.10299433e+01] [ 4.28562712e-03 -2.39705782e-05 9.99990816e-01 3.65876351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.75, Y:41.05, Z:0.37 [[ 7.79564637e-01 -6.26312792e-01 -3.35603470e-03 1.23753268e+02] [ 6.26307121e-01 7.79571861e-01 -2.66537142e-03 4.10469617e+01] [ 4.28562643e-03 -2.40791287e-05 9.99990816e-01 3.66059175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.78, Y:41.06, Z:0.37 [[ 7.79034504e-01 -6.26972074e-01 -3.35553167e-03 1.23775423e+02] [ 6.26966407e-01 7.79041730e-01 -2.66600455e-03 4.10623197e+01] [ 4.28560960e-03 -2.68961019e-05 9.99990816e-01 3.67103455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.018623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:123.80, Y:41.08, Z:0.37 [[ 7.78652696e-01 -6.27446191e-01 -3.35507786e-03 1.23797313e+02] [ 6.27440525e-01 7.78659924e-01 -2.66657554e-03 4.10778815e+01] [ 4.28559733e-03 -2.87755747e-05 9.99990816e-01 3.66718239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.82, Y:41.09, Z:0.37 [[ 7.78181508e-01 -6.28030483e-01 -3.35463033e-03 1.23820085e+02] [ 6.28024820e-01 7.78188738e-01 -2.66713842e-03 4.10940058e+01] [ 4.28557977e-03 -3.12733144e-05 9.99990816e-01 3.67487988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.078623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:123.84, Y:41.11, Z:0.37 [[ 7.77741170e-01 -6.28575709e-01 -3.35412623e-03 1.23842887e+02] [ 6.28570048e-01 7.77748402e-01 -2.66777222e-03 4.11104584e+01] [ 4.28556313e-03 -3.34669962e-05 9.99990816e-01 3.67044022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.108623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:123.87, Y:41.13, Z:0.37 [[ 7.76969944e-01 -6.29528759e-01 -3.35362402e-03 1.23866651e+02] [ 6.29523105e-01 7.76977181e-01 -2.66840339e-03 4.11256089e+01] [ 4.28552601e-03 -3.79145713e-05 9.99990816e-01 3.66082606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.89, Y:41.14, Z:0.37 [[ 7.76580415e-01 -6.30009219e-01 -3.35312366e-03 1.23889154e+02] [ 6.30003566e-01 7.76587653e-01 -2.66903200e-03 4.11411731e+01] [ 4.28550920e-03 -3.97618833e-05 9.99990816e-01 3.65556097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.168623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.91, Y:41.16, Z:0.37 [[ 7.76184862e-01 -6.30496486e-01 -3.35278247e-03 1.23911835e+02] [ 6.30490836e-01 7.76192102e-01 -2.66946052e-03 4.11573738e+01] [ 4.28548875e-03 -4.19037749e-05 9.99990816e-01 3.65467967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.93, Y:41.17, Z:0.36 [[ 7.75679296e-01 -6.31118366e-01 -3.35227875e-03 1.23934218e+02] [ 6.31112719e-01 7.75686539e-01 -2.67009294e-03 4.11734288e+01] [ 4.28546219e-03 -4.45299478e-05 9.99990816e-01 3.64618513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:41.19, Z:0.36 [[ 7.74975151e-01 -6.31982816e-01 -3.35177438e-03 1.23956730e+02] [ 6.31977175e-01 7.74982398e-01 -2.67072593e-03 4.11882798e+01] [ 4.28541904e-03 -4.84986701e-05 9.99990816e-01 3.63169388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.98, Y:41.20, Z:0.36 [[ 7.74601084e-01 -6.32441245e-01 -3.35132405e-03 1.23979266e+02] [ 6.32435606e-01 7.74608333e-01 -2.67129090e-03 4.12044426e+01] [ 4.28539808e-03 -5.03118309e-05 9.99990816e-01 3.63399029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.00, Y:41.22, Z:0.36 [[ 7.74260447e-01 -6.32858224e-01 -3.35082522e-03 1.24001294e+02] [ 6.32852586e-01 7.74267696e-01 -2.67191648e-03 4.12199456e+01] [ 4.28538004e-03 -5.18191539e-05 9.99990816e-01 3.62983423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.02, Y:41.24, Z:0.36 [[ 7.73869267e-01 -6.33336508e-01 -3.35029823e-03 1.24024072e+02] [ 6.33330872e-01 7.73876518e-01 -2.67257710e-03 4.12357426e+01] [ 4.28535778e-03 -5.36220125e-05 9.99990816e-01 3.64083073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.05, Y:41.25, Z:0.37 [[ 7.73329874e-01 -6.33995019e-01 -3.34980621e-03 1.24048477e+02] [ 6.33989386e-01 7.73337127e-01 -2.67319365e-03 4.12507841e+01] [ 4.28532097e-03 -5.64810707e-05 9.99990816e-01 3.65418595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.07, Y:41.27, Z:0.37 [[ 7.72850169e-01 -6.34579702e-01 -3.34931420e-03 1.24071538e+02] [ 6.34574072e-01 7.72857424e-01 -2.67380997e-03 4.12671828e+01] [ 4.28528788e-03 -5.89334598e-05 9.99990816e-01 3.66163019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.09, Y:41.28, Z:0.37 [[ 7.72492259e-01 -6.35015351e-01 -3.34880431e-03 1.24093674e+02] [ 6.35009722e-01 7.72499515e-01 -2.67444842e-03 4.12824258e+01] [ 4.28526551e-03 -6.05325953e-05 9.99990816e-01 3.66389419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:124.12, Y:41.30, Z:0.37 [[ 7.72066063e-01 -6.35533463e-01 -3.34834399e-03 1.24116494e+02] [ 6.35527837e-01 7.72073321e-01 -2.67502461e-03 4.12985998e+01] [ 4.28523472e-03 -6.26700890e-05 9.99990816e-01 3.66682067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.14, Y:41.31, Z:0.37 [[ 7.71714128e-01 -6.35960767e-01 -3.34783748e-03 1.24139037e+02] [ 6.35955141e-01 7.71721387e-01 -2.67565837e-03 4.13145242e+01] [ 4.28521153e-03 -6.42310940e-05 9.99990816e-01 3.67448735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.498623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.16, Y:41.33, Z:0.37 [[ 7.71085492e-01 -6.36722828e-01 -3.34732863e-03 1.24162741e+02] [ 6.36717207e-01 7.71092755e-01 -2.67629480e-03 4.13282874e+01] [ 4.28515885e-03 -6.76496472e-05 9.99990816e-01 3.67353898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:41.34, Z:0.37 [[ 7.70798689e-01 -6.37069995e-01 -3.34687102e-03 1.24185856e+02] [ 6.37064375e-01 7.70805952e-01 -2.67686694e-03 4.13441306e+01] [ 4.28513972e-03 -6.88467653e-05 9.99990816e-01 3.68245487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.21, Y:41.36, Z:0.37 [[ 7.70514455e-01 -6.37413740e-01 -3.34635805e-03 1.24208182e+02] [ 6.37408120e-01 7.70521719e-01 -2.67750806e-03 4.13595737e+01] [ 4.28512198e-03 -6.99371305e-05 9.99990816e-01 3.68558493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.23, Y:41.37, Z:0.37 [[ 7.70027239e-01 -6.38002238e-01 -3.34589806e-03 1.24232335e+02] [ 6.37996622e-01 7.70034505e-01 -2.67808275e-03 4.13730247e+01] [ 4.28507975e-03 -7.24749920e-05 9.99990816e-01 3.67428532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.26, Y:41.39, Z:0.37 [[ 7.69798412e-01 -6.38278320e-01 -3.34536874e-03 1.24255696e+02] [ 6.38272703e-01 7.69805678e-01 -2.67874380e-03 4.13891670e+01] [ 4.28506794e-03 -7.31648260e-05 9.99990816e-01 3.67486663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:124.28, Y:41.40, Z:0.37 [[ 7.69559965e-01 -6.38565794e-01 -3.34486161e-03 1.24277609e+02] [ 6.38560177e-01 7.69567230e-01 -2.67937689e-03 4.14045820e+01] [ 4.28505431e-03 -7.39542314e-05 9.99990816e-01 3.66165226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.678623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:124.30, Y:41.42, Z:0.37 [[ 7.69527179e-01 -6.38605305e-01 -3.34449033e-03 1.24299589e+02] [ 6.38599686e-01 7.69534443e-01 -2.67984025e-03 4.14202922e+01] [ 4.28506070e-03 -7.35805659e-05 9.99990816e-01 3.70097621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:41.43, Z:0.36 [[ 7.69304363e-01 -6.38873708e-01 -3.34396875e-03 1.24324254e+02] [ 6.38868089e-01 7.69311627e-01 -2.68049093e-03 4.14339036e+01] [ 4.28504922e-03 -7.42415548e-05 9.99990816e-01 3.63736318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.738623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.35, Y:41.45, Z:0.36 [[ 7.69288800e-01 -6.38892451e-01 -3.34347277e-03 1.24347638e+02] [ 6.38886829e-01 7.69296062e-01 -2.68110944e-03 4.14500911e+01] [ 4.28506102e-03 -7.35532592e-05 9.99990816e-01 3.63642397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.768623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.37, Y:41.47, Z:0.36 [[ 7.69395928e-01 -6.38763439e-01 -3.34297581e-03 1.24370139e+02] [ 6.38757814e-01 7.69403187e-01 -2.68172894e-03 4.14651745e+01] [ 4.28508664e-03 -7.20405926e-05 9.99990816e-01 3.62656491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.798623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.39, Y:41.48, Z:0.36 [[ 7.69692248e-01 -6.38406353e-01 -3.34245071e-03 1.24393465e+02] [ 6.38400721e-01 7.69699502e-01 -2.68238326e-03 4.14809287e+01] [ 4.28513316e-03 -6.92133404e-05 9.99990816e-01 3.63577909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.828623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.42, Y:41.50, Z:0.36 [[ 7.70777004e-01 -6.37096257e-01 -3.34195751e-03 1.24416393e+02] [ 6.37090611e-01 7.70784247e-01 -2.68299758e-03 4.14952088e+01] [ 4.28525592e-03 -6.11369130e-05 9.99990816e-01 3.64969051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.44, Y:41.51, Z:0.36 [[ 7.71527452e-01 -6.36187257e-01 -3.34143674e-03 1.24438374e+02] [ 6.36181599e-01 7.71534685e-01 -2.68364601e-03 4.15115778e+01] [ 4.28533573e-03 -5.52540016e-05 9.99990816e-01 3.64995772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.888623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.46, Y:41.53, Z:0.36 [[ 7.72271300e-01 -6.35284092e-01 -3.34091936e-03 1.24460711e+02] [ 6.35278423e-01 7.72278525e-01 -2.68428994e-03 4.15281580e+01] [ 4.28540698e-03 -4.94138973e-05 9.99990816e-01 3.64956739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.918623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:124.48, Y:41.54, Z:0.37 [[ 7.72730783e-01 -6.34725120e-01 -3.34043581e-03 1.24483551e+02] [ 6.34719443e-01 7.72738002e-01 -2.68489155e-03 4.15447855e+01] [ 4.28544981e-03 -4.55412066e-05 9.99990816e-01 3.65223212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.51, Y:41.56, Z:0.37 [[ 7.72987780e-01 -6.34412119e-01 -3.33994815e-03 1.24506077e+02] [ 6.34406437e-01 7.72994994e-01 -2.68549806e-03 4.15606746e+01] [ 4.28547572e-03 -4.30274262e-05 9.99990816e-01 3.65553703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:124.53, Y:41.58, Z:0.37 [[ 7.72741398e-01 -6.34712202e-01 -3.33942961e-03 1.24530878e+02] [ 6.34706520e-01 7.72748613e-01 -2.68614272e-03 4.15752125e+01] [ 4.28546715e-03 -4.38640663e-05 9.99990816e-01 3.70488226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:124.55, Y:41.59, Z:0.37 [[ 7.72447616e-01 -6.35069707e-01 -3.33891447e-03 1.24554461e+02] [ 6.35064025e-01 7.72454830e-01 -2.68678288e-03 4.15894608e+01] [ 4.28545503e-03 -4.50254335e-05 9.99990816e-01 3.65344917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.58, Y:41.60, Z:0.37 [[ 7.71754805e-01 -6.35911453e-01 -3.33844889e-03 1.24577693e+02] [ 6.35905776e-01 7.71762024e-01 -2.68736127e-03 4.16045133e+01] [ 4.28541188e-03 -4.89549578e-05 9.99990816e-01 3.67516775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:41.62, Z:0.37 [[ 7.71158934e-01 -6.36633927e-01 -3.33792314e-03 1.24600441e+02] [ 6.36628255e-01 7.71166156e-01 -2.68801413e-03 4.16190812e+01] [ 4.28537435e-03 -5.21300787e-05 9.99990816e-01 3.66362973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.63, Y:41.63, Z:0.37 [[ 7.69675363e-01 -6.38426736e-01 -3.33745188e-03 1.24625606e+02] [ 6.38421078e-01 7.69682596e-01 -2.68859912e-03 4.16327591e+01] [ 4.28525219e-03 -6.13511212e-05 9.99990816e-01 3.66873316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.65, Y:41.65, Z:0.37 [[ 7.68832660e-01 -6.39441323e-01 -3.33693477e-03 1.24648320e+02] [ 6.39435671e-01 7.68839899e-01 -2.68924078e-03 4.16471312e+01] [ 4.28518027e-03 -6.61789790e-05 9.99990816e-01 3.66320244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:124.67, Y:41.66, Z:0.37 [[ 7.68126506e-01 -6.40289419e-01 -3.33638938e-03 1.24671748e+02] [ 6.40283772e-01 7.68133748e-01 -2.68991724e-03 4.16618265e+01] [ 4.28511883e-03 -7.00392436e-05 9.99990816e-01 3.65404333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:124.70, Y:41.68, Z:0.37 [[ 7.67577164e-01 -6.40947868e-01 -3.33584475e-03 1.24695469e+02] [ 6.40942225e-01 7.67584409e-01 -2.69059248e-03 4.16776098e+01] [ 4.28507194e-03 -7.28464079e-05 9.99990816e-01 3.67305775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.218623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:124.72, Y:41.69, Z:0.37 [[ 7.67535893e-01 -6.40997292e-01 -3.33533592e-03 1.24720151e+02] [ 6.40991647e-01 7.67543136e-01 -2.69122310e-03 4.16908913e+01] [ 4.28508091e-03 -7.23121369e-05 9.99990816e-01 3.67988621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:124.74, Y:41.71, Z:0.37 [[ 7.67774505e-01 -6.40711470e-01 -3.33483000e-03 1.24743631e+02] [ 6.40705819e-01 7.67781744e-01 -2.69184987e-03 4.17064138e+01] [ 4.28512068e-03 -6.99112839e-05 9.99990816e-01 3.68554181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:41.72, Z:0.37 [[ 7.68124936e-01 -6.40291312e-01 -3.33432449e-03 1.24766511e+02] [ 6.40285655e-01 7.68132170e-01 -2.69247587e-03 4.17214642e+01] [ 4.28517082e-03 -6.67622806e-05 9.99990816e-01 3.68926019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.79, Y:41.74, Z:0.37 [[ 7.68535514e-01 -6.39798444e-01 -3.33379014e-03 1.24789648e+02] [ 6.39792779e-01 7.68542743e-01 -2.69313735e-03 4.17374424e+01] [ 4.28522530e-03 -6.31631593e-05 9.99990816e-01 3.73659091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.81, Y:41.75, Z:0.37 [[ 7.69974151e-01 -6.38066372e-01 -3.33328844e-03 1.24814623e+02] [ 6.38060688e-01 7.69981365e-01 -2.69375815e-03 4.17502894e+01] [ 4.28536647e-03 -5.27161703e-05 9.99990816e-01 3.71064250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.84, Y:41.77, Z:0.37 [[ 7.69856765e-01 -6.38208002e-01 -3.33275864e-03 1.24836681e+02] [ 6.38202317e-01 7.69863977e-01 -2.69441346e-03 4.17683744e+01] [ 4.28536706e-03 -5.26618576e-05 9.99990816e-01 3.71186306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.86, Y:41.78, Z:0.37 [[ 7.70538595e-01 -6.37384633e-01 -3.33226289e-03 1.24859177e+02] [ 6.37378937e-01 7.70545798e-01 -2.69502644e-03 4.17834953e+01] [ 4.28542961e-03 -4.72922875e-05 9.99990816e-01 3.71985172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.88, Y:41.80, Z:0.37 [[ 7.71330156e-01 -6.36426500e-01 -3.33173877e-03 1.24882235e+02] [ 6.36420792e-01 7.71337351e-01 -2.69567422e-03 4.17991496e+01] [ 4.28549307e-03 -4.11330105e-05 9.99990816e-01 3.73000999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.91, Y:41.81, Z:0.37 [[ 7.72069011e-01 -6.35529971e-01 -3.33124873e-03 1.24905024e+02] [ 6.35524253e-01 7.72076197e-01 -2.69627967e-03 4.18145377e+01] [ 4.28554439e-03 -3.53753812e-05 9.99990816e-01 3.73186115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.93, Y:41.83, Z:0.37 [[ 7.74137033e-01 -6.33009288e-01 -3.33088964e-03 1.24928401e+02] [ 6.33003544e-01 7.74144199e-01 -2.69672321e-03 4.18285516e+01] [ 4.28563973e-03 -2.08316430e-05 9.99990816e-01 3.71910110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.95, Y:41.85, Z:0.37 [[ 7.75275044e-01 -6.31615004e-01 -3.33053351e-03 1.24951451e+02] [ 6.31609245e-01 7.75282198e-01 -2.69716297e-03 4.18451763e+01] [ 4.28567194e-03 -1.25526132e-05 9.99990816e-01 3.70979425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.548623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.97, Y:41.86, Z:0.37 [[ 7.76381122e-01 -6.30254920e-01 -3.33005279e-03 1.24973904e+02] [ 6.30249146e-01 7.76388264e-01 -2.69775636e-03 4.18617333e+01] [ 4.28568812e-03 -4.27581811e-06 9.99990816e-01 3.70569930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.578623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.00, Y:41.88, Z:0.37 [[ 7.77544419e-01 -6.28819204e-01 -3.32957375e-03 1.24996120e+02] [ 6.28813414e-01 7.77551548e-01 -2.69834746e-03 4.18785501e+01] [ 4.28568792e-03 4.40437224e-06 9.99990816e-01 3.69775658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.608623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.02, Y:41.90, Z:0.37 [[ 7.79728250e-01 -6.26109234e-01 -3.32909801e-03 1.25019266e+02] [ 6.26103418e-01 7.79735357e-01 -2.69893428e-03 4.18951109e+01] [ 4.28564310e-03 2.00756588e-05 9.99990816e-01 3.70565098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:41.91, Z:0.37 [[ 7.80587317e-01 -6.25037888e-01 -3.32858355e-03 1.25041950e+02] [ 6.25032059e-01 7.80594413e-01 -2.69956861e-03 4.19117094e+01] [ 4.28560638e-03 2.67775898e-05 9.99990816e-01 3.70205800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.668623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.06, Y:41.93, Z:0.37 [[ 7.81586467e-01 -6.23788040e-01 -3.32806463e-03 1.25064290e+02] [ 6.23782197e-01 7.81593552e-01 -2.70020819e-03 4.19274542e+01] [ 4.28555143e-03 3.44587156e-05 9.99990816e-01 3.70307744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.09, Y:41.94, Z:0.37 [[ 7.82231070e-01 -6.22979518e-01 -3.32759907e-03 1.25085945e+02] [ 6.22973665e-01 7.82238147e-01 -2.70078180e-03 4.19437474e+01] [ 4.28550667e-03 3.96288515e-05 9.99990816e-01 3.69011183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:125.11, Y:41.96, Z:0.37 [[ 7.83636452e-01 -6.21210786e-01 -3.32725243e-03 1.25108189e+02] [ 6.21204915e-01 7.83643514e-01 -2.70120878e-03 4.19606801e+01] [ 4.28539981e-03 4.98601036e-05 9.99990816e-01 3.70664717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.13, Y:41.98, Z:0.37 [[ 7.84090895e-01 -6.20637093e-01 -3.32673872e-03 1.25129273e+02] [ 6.20631214e-01 7.84097950e-01 -2.70184130e-03 4.19777904e+01] [ 4.28535194e-03 5.38112655e-05 9.99990816e-01 3.69854939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.15, Y:42.00, Z:0.37 [[ 7.84485062e-01 -6.20138794e-01 -3.32627726e-03 1.25151288e+02] [ 6.20132908e-01 7.84492112e-01 -2.70240929e-03 4.19957316e+01] [ 4.28530711e-03 5.72657258e-05 9.99990816e-01 3.71014550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.17, Y:42.01, Z:0.37 [[ 7.84728520e-01 -6.19830694e-01 -3.32577575e-03 1.25172447e+02] [ 6.19824803e-01 7.84735565e-01 -2.70302634e-03 4.20130228e+01] [ 4.28527321e-03 5.97435645e-05 9.99990816e-01 3.70749585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.19, Y:42.03, Z:0.37 [[ 7.85237329e-01 -6.19185981e-01 -3.32532554e-03 1.25194410e+02] [ 6.19180082e-01 7.85244368e-01 -2.70358009e-03 4.20311374e+01] [ 4.28521204e-03 6.39766657e-05 9.99990816e-01 3.72137230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.22, Y:42.05, Z:0.37 [[ 7.85551468e-01 -6.18787392e-01 -3.32481850e-03 1.25216250e+02] [ 6.18781487e-01 7.85558501e-01 -2.70420349e-03 4.20485159e+01] [ 4.28516647e-03 6.69548840e-05 9.99990816e-01 3.73135140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:125.24, Y:42.07, Z:0.37 [[ 7.85734347e-01 -6.18555159e-01 -3.32431609e-03 1.25237458e+02] [ 6.18549249e-01 7.85741377e-01 -2.70482097e-03 4.20657609e+01] [ 4.28513367e-03 6.90175174e-05 9.99990816e-01 3.73694945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.26, Y:42.08, Z:0.38 [[ 7.85910376e-01 -6.18331491e-01 -3.32386442e-03 1.25258533e+02] [ 6.18325576e-01 7.85917402e-01 -2.70537591e-03 4.20834886e+01] [ 4.28510200e-03 7.09526150e-05 9.99990816e-01 3.75096189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.28, Y:42.10, Z:0.37 [[ 7.86010397e-01 -6.18204344e-01 -3.32336073e-03 1.25279120e+02] [ 6.18198425e-01 7.86017420e-01 -2.70599451e-03 4.21015470e+01] [ 4.28507699e-03 7.24434460e-05 9.99990816e-01 3.74188111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.998623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.30, Y:42.12, Z:0.38 [[ 7.85876746e-01 -6.18374238e-01 -3.32290762e-03 1.25299383e+02] [ 6.18368319e-01 7.85883768e-01 -2.70655081e-03 4.21205598e+01] [ 4.28508045e-03 7.22345436e-05 9.99990816e-01 3.76184459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.32, Y:42.14, Z:0.38 [[ 7.85547963e-01 -6.18791855e-01 -3.32240550e-03 1.25320146e+02] [ 6.18785937e-01 7.85554986e-01 -2.70716704e-03 4.21385352e+01] [ 4.28510512e-03 7.07517505e-05 9.99990816e-01 3.76045968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.058623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.34, Y:42.16, Z:0.37 [[ 7.85002492e-01 -6.19483698e-01 -3.32195477e-03 1.25340880e+02] [ 6.19477784e-01 7.85009518e-01 -2.70772002e-03 4.21563973e+01] [ 4.28515452e-03 6.76897808e-05 9.99990816e-01 3.74699088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.36, Y:42.17, Z:0.38 [[ 7.83901319e-01 -6.20876550e-01 -3.32143936e-03 1.25361143e+02] [ 6.20870646e-01 7.83908353e-01 -2.70835209e-03 4.21747532e+01] [ 4.28525636e-03 6.08965702e-05 9.99990816e-01 3.75553256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.118623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:125.38, Y:42.19, Z:0.38 [[ 7.83264584e-01 -6.21679630e-01 -3.32094092e-03 1.25381751e+02] [ 6.21673730e-01 7.83271622e-01 -2.70896314e-03 4.21925430e+01] [ 4.28530598e-03 5.72931620e-05 9.99990816e-01 3.75777594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.40, Y:42.21, Z:0.38 [[ 7.82624056e-01 -6.22485792e-01 -3.32043716e-03 1.25402581e+02] [ 6.22479897e-01 7.82631098e-01 -2.70958046e-03 4.22112083e+01] [ 4.28535272e-03 5.36774712e-05 9.99990816e-01 3.77759688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:42.23, Z:0.38 [[ 7.81957738e-01 -6.23322608e-01 -3.31993476e-03 1.25422282e+02] [ 6.23316718e-01 7.81964784e-01 -2.71019589e-03 4.22295745e+01] [ 4.28539844e-03 4.98878081e-05 9.99990816e-01 3.77608858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.44, Y:42.25, Z:0.38 [[ 7.81034696e-01 -6.24478811e-01 -3.31948200e-03 1.25442578e+02] [ 6.24472929e-01 7.81041748e-01 -2.71075033e-03 4.22497428e+01] [ 4.28546017e-03 4.42634170e-05 9.99990816e-01 3.78191015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.46, Y:42.27, Z:0.38 [[ 7.80444927e-01 -6.25215723e-01 -3.31897918e-03 1.25462368e+02] [ 6.25209845e-01 7.80451984e-01 -2.71136583e-03 4.22677184e+01] [ 4.28549243e-03 4.10132500e-05 9.99990816e-01 3.77291354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.268623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.48, Y:42.29, Z:0.38 [[ 7.79872411e-01 -6.25929717e-01 -3.31847863e-03 1.25483332e+02] [ 6.25923843e-01 7.79879470e-01 -2.71197833e-03 4.22867438e+01] [ 4.28552118e-03 3.78821817e-05 9.99990816e-01 3.78574078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:42.31, Z:0.38 [[ 7.79090379e-01 -6.26902841e-01 -3.31797224e-03 1.25503881e+02] [ 6.26896973e-01 7.79097444e-01 -2.71259773e-03 4.23060840e+01] [ 4.28555891e-03 3.33320431e-05 9.99990816e-01 3.78695020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:42.33, Z:0.38 [[ 7.77610662e-01 -6.28737348e-01 -3.31746753e-03 1.25521315e+02] [ 6.28731494e-01 7.77617738e-01 -2.71321484e-03 4.23268625e+01] [ 4.28562110e-03 2.40284711e-05 9.99990816e-01 3.78115448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.54, Y:42.35, Z:0.38 [[ 7.76609942e-01 -6.29973012e-01 -3.31693183e-03 1.25541620e+02] [ 6.29967166e-01 7.76617025e-01 -2.71386957e-03 4.23460053e+01] [ 4.28565032e-03 1.80599442e-05 9.99990816e-01 3.77656577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.56, Y:42.36, Z:0.38 [[ 7.75480671e-01 -6.31362598e-01 -3.31642501e-03 1.25561226e+02] [ 6.31356762e-01 7.75487763e-01 -2.71448879e-03 4.23639852e+01] [ 4.28567370e-03 1.11862323e-05 9.99990816e-01 3.77367381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.58, Y:42.38, Z:0.38 [[ 7.74270395e-01 -6.32846237e-01 -3.31588859e-03 1.25581462e+02] [ 6.32840413e-01 7.74277496e-01 -2.71514390e-03 4.23818949e+01] [ 4.28568651e-03 3.82723926e-06 9.99990816e-01 3.75821007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:42.40, Z:0.38 [[ 7.72040447e-01 -6.35564754e-01 -3.31535600e-03 1.25601887e+02] [ 6.35558951e-01 7.72047566e-01 -2.71579406e-03 4.24013861e+01] [ 4.28567551e-03 -1.04013165e-05 9.99990816e-01 3.78004496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.62, Y:42.42, Z:0.38 [[ 7.70859534e-01 -6.36996538e-01 -3.31486636e-03 1.25622760e+02] [ 6.36990747e-01 7.70866661e-01 -2.71639158e-03 4.24204070e+01] [ 4.28565200e-03 -1.75828466e-05 9.99990816e-01 3.78987727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.64, Y:42.44, Z:0.38 [[ 7.69775637e-01 -6.38305949e-01 -3.31437476e-03 1.25643010e+02] [ 6.38300167e-01 7.69782772e-01 -2.71699126e-03 4.24393062e+01] [ 4.28562028e-03 -2.40922821e-05 9.99990816e-01 3.79434613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:42.46, Z:0.38 [[ 7.68922655e-01 -6.39333222e-01 -3.31387397e-03 1.25662434e+02] [ 6.39327447e-01 7.68929796e-01 -2.71760194e-03 4.24580141e+01] [ 4.28558964e-03 -2.90248877e-05 9.99990816e-01 3.79608614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.68, Y:42.48, Z:0.38 [[ 7.68163357e-01 -6.40245327e-01 -3.31334437e-03 1.25682674e+02] [ 6.40239558e-01 7.68170502e-01 -2.71824748e-03 4.24769677e+01] [ 4.28555865e-03 -3.32760221e-05 9.99990816e-01 3.79226532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.70, Y:42.50, Z:0.38 [[ 7.66626780e-01 -6.42084422e-01 -3.31285313e-03 1.25702564e+02] [ 6.42078667e-01 7.66633937e-01 -2.71884604e-03 4.24965989e+01] [ 4.28547433e-03 -4.27721314e-05 9.99990816e-01 3.79380092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.72, Y:42.51, Z:0.38 [[ 7.65894163e-01 -6.42958132e-01 -3.31233794e-03 1.25723081e+02] [ 6.42952382e-01 7.65901324e-01 -2.71947355e-03 4.25141832e+01] [ 4.28543165e-03 -4.68466511e-05 9.99990816e-01 3.78964937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.74, Y:42.53, Z:0.38 [[ 7.65159876e-01 -6.43831806e-01 -3.31195944e-03 1.25744369e+02] [ 6.43826063e-01 7.65167043e-01 -2.71993443e-03 4.25327773e+01] [ 4.28538251e-03 -5.11411101e-05 9.99990816e-01 3.78758485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68862385300002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:125.76, Y:42.55, Z:0.39 [[ 7.64395342e-01 -6.44739324e-01 -3.31143904e-03 1.25764712e+02] [ 6.44733586e-01 7.64402513e-01 -2.72056786e-03 4.25522428e+01] [ 4.28532940e-03 -5.54065641e-05 9.99990816e-01 3.87296470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.79, Y:42.57, Z:0.38 [[ 7.63826679e-01 -6.45412924e-01 -3.31089446e-03 1.25785463e+02] [ 6.45407190e-01 7.63833852e-01 -2.72123045e-03 4.25697859e+01] [ 4.28529057e-03 -5.83266729e-05 9.99990816e-01 3.78852650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.81, Y:42.59, Z:0.38 [[ 7.62885106e-01 -6.46525604e-01 -3.31039811e-03 1.25805719e+02] [ 6.46519878e-01 7.62892286e-01 -2.72183412e-03 4.25894478e+01] [ 4.28521263e-03 -6.37914722e-05 9.99990816e-01 3.81406080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.778623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.83, Y:42.61, Z:0.38 [[ 7.62244089e-01 -6.47281233e-01 -3.30987325e-03 1.25826043e+02] [ 6.47275511e-01 7.62251272e-01 -2.72247223e-03 4.26077813e+01] [ 4.28516027e-03 -6.72115314e-05 9.99990816e-01 3.82061740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.85, Y:42.63, Z:0.38 [[ 7.60715433e-01 -6.49077097e-01 -3.30931910e-03 1.25846537e+02] [ 6.49071389e-01 7.60722628e-01 -2.72314566e-03 4.26262681e+01] [ 4.28500540e-03 -7.64454155e-05 9.99990816e-01 3.82628056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.87, Y:42.64, Z:0.38 [[ 7.59781647e-01 -6.50169901e-01 -3.30880075e-03 1.25867670e+02] [ 6.50164201e-01 7.59788847e-01 -2.72377534e-03 4.26439353e+01] [ 4.28490666e-03 -8.17892808e-05 9.99990816e-01 3.83364558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.89, Y:42.66, Z:0.38 [[ 7.58989063e-01 -6.51094969e-01 -3.30827228e-03 1.25888539e+02] [ 6.51089274e-01 7.58996268e-01 -2.72441706e-03 4.26603927e+01] [ 4.28482056e-03 -8.61778464e-05 9.99990816e-01 3.83598566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:42.68, Z:0.38 [[ 7.58141911e-01 -6.52081207e-01 -3.30788451e-03 1.25909433e+02] [ 6.52075520e-01 7.58149122e-01 -2.72488780e-03 4.26771405e+01] [ 4.28471786e-03 -9.11388640e-05 9.99990816e-01 3.83599191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:125.93, Y:42.70, Z:0.38 [[ 7.56892151e-01 -6.53531433e-01 -3.30733768e-03 1.25931296e+02] [ 6.53525757e-01 7.56899370e-01 -2.72555135e-03 4.26952133e+01] [ 4.28455529e-03 -9.84819370e-05 9.99990816e-01 3.82612643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:42.71, Z:0.38 [[ 7.56542124e-01 -6.53936602e-01 -3.30683069e-03 1.25952094e+02] [ 6.53930927e-01 7.56549344e-01 -2.72616634e-03 4.27129561e+01] [ 4.28452054e-03 -9.99791882e-05 9.99990816e-01 3.81496687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.97, Y:42.73, Z:0.38 [[ 7.56489989e-01 -6.53996915e-01 -3.30629387e-03 1.25973849e+02] [ 6.53991238e-01 7.56497208e-01 -2.72681724e-03 4.27310739e+01] [ 4.28453214e-03 -9.94772738e-05 9.99990816e-01 3.81591751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.99, Y:42.75, Z:0.38 [[ 7.56598980e-01 -6.53870825e-01 -3.30577275e-03 1.25994726e+02] [ 6.53865144e-01 7.56606195e-01 -2.72744885e-03 4.27489012e+01] [ 4.28456737e-03 -9.79445567e-05 9.99990816e-01 3.79445181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.02, Y:42.77, Z:0.38 [[ 7.56901051e-01 -6.53521135e-01 -3.30522352e-03 1.26016010e+02] [ 6.53515448e-01 7.56908262e-01 -2.72811426e-03 4.27664649e+01] [ 4.28463132e-03 -9.51020793e-05 9.99990816e-01 3.80807672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.04, Y:42.78, Z:0.38 [[ 7.57371763e-01 -6.52975567e-01 -3.30471084e-03 1.26037173e+02] [ 6.52969872e-01 7.57378967e-01 -2.72873516e-03 4.27839685e+01] [ 4.28471587e-03 -9.12096517e-05 9.99990816e-01 3.80804454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.06, Y:42.80, Z:0.38 [[ 7.58240494e-01 -6.51966591e-01 -3.30416977e-03 1.26058332e+02] [ 6.51960883e-01 7.58247689e-01 -2.72939017e-03 4.28019351e+01] [ 4.28485030e-03 -8.46552887e-05 9.99990816e-01 3.80952900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.08, Y:42.82, Z:0.38 [[ 7.58427019e-01 -6.51749601e-01 -3.30367745e-03 1.26079982e+02] [ 6.51743889e-01 7.58434210e-01 -2.72998596e-03 4.28200557e+01] [ 4.28488925e-03 -8.26564785e-05 9.99990816e-01 3.81430389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.168623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.10, Y:42.84, Z:0.38 [[ 7.58574169e-01 -6.51578329e-01 -3.30317257e-03 1.26101816e+02] [ 6.51572612e-01 7.58581357e-01 -2.73059671e-03 4.28379065e+01] [ 4.28492277e-03 -8.08966487e-05 9.99990816e-01 3.82002562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.12, Y:42.86, Z:0.38 [[ 7.58737049e-01 -6.51388657e-01 -3.30266838e-03 1.26123951e+02] [ 6.51382936e-01 7.58744233e-01 -2.73120639e-03 4.28555244e+01] [ 4.28495745e-03 -7.90343530e-05 9.99990816e-01 3.81745900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.15, Y:42.87, Z:0.38 [[ 7.58910563e-01 -6.51186496e-01 -3.30216657e-03 1.26146367e+02] [ 6.51180770e-01 7.58917744e-01 -2.73181296e-03 4.28723231e+01] [ 4.28499251e-03 -7.71056594e-05 9.99990816e-01 3.82038225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:42.89, Z:0.38 [[ 7.58941732e-01 -6.51150172e-01 -3.30165265e-03 1.26167444e+02] [ 6.51144444e-01 7.58948909e-01 -2.73243395e-03 4.28887946e+01] [ 4.28501051e-03 -7.60946234e-05 9.99990816e-01 3.81269080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.19, Y:42.91, Z:0.38 [[ 7.58926519e-01 -6.51167905e-01 -3.30110656e-03 1.26189874e+02] [ 6.51162174e-01 7.58933695e-01 -2.73309353e-03 4.29060291e+01] [ 4.28502379e-03 -7.53385660e-05 9.99990816e-01 3.82596557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.21, Y:42.92, Z:0.38 [[ 7.58800408e-01 -6.51314860e-01 -3.30057748e-03 1.26211722e+02] [ 6.51309127e-01 7.58807583e-01 -2.73373231e-03 4.29243660e+01] [ 4.28502370e-03 -7.53390503e-05 9.99990816e-01 3.82718625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.23, Y:42.94, Z:0.38 [[ 7.59564487e-01 -6.50423631e-01 -3.30004798e-03 1.26233331e+02] [ 6.50417888e-01 7.59571652e-01 -2.73437136e-03 4.29410617e+01] [ 4.28512264e-03 -6.94788576e-05 9.99990816e-01 3.82279884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:42.96, Z:0.38 [[ 7.60201162e-01 -6.49679387e-01 -3.29949075e-03 1.26254770e+02] [ 6.49673633e-01 7.60208320e-01 -2.73504358e-03 4.29585031e+01] [ 4.28520176e-03 -6.44088328e-05 9.99990816e-01 3.81323218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.28, Y:42.97, Z:0.38 [[ 7.61050969e-01 -6.48683697e-01 -3.29896966e-03 1.26275796e+02] [ 6.48677931e-01 7.61058117e-01 -2.73567197e-03 4.29748701e+01] [ 4.28529344e-03 -5.79830156e-05 9.99990816e-01 3.80142813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:42.99, Z:0.38 [[ 7.61962673e-01 -6.47612543e-01 -3.29841937e-03 1.26297554e+02] [ 6.47606764e-01 7.61969810e-01 -2.73633529e-03 4.29919225e+01] [ 4.28538104e-03 -5.10933460e-05 9.99990816e-01 3.80767112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.32, Y:43.01, Z:0.38 [[ 7.63098114e-01 -6.46274239e-01 -3.29790489e-03 1.26319409e+02] [ 6.46268445e-01 7.63105240e-01 -2.73695522e-03 4.30095836e+01] [ 4.28547215e-03 -4.27664963e-05 9.99990816e-01 3.81548659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.34, Y:43.03, Z:0.38 [[ 7.64427049e-01 -6.44701803e-01 -3.29739147e-03 1.26340726e+02] [ 6.44695992e-01 7.64434160e-01 -2.73757364e-03 4.30275450e+01] [ 4.28555733e-03 -3.31397242e-05 9.99990816e-01 3.82561108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.36, Y:43.05, Z:0.38 [[ 7.67213209e-01 -6.41383678e-01 -3.29687938e-03 1.26361634e+02] [ 6.41377833e-01 7.67220293e-01 -2.73819020e-03 4.30453197e+01] [ 4.28566327e-03 -1.37696642e-05 9.99990816e-01 3.83121018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:43.06, Z:0.38 [[ 7.68396593e-01 -6.39965476e-01 -3.29633867e-03 1.26382789e+02] [ 6.39959615e-01 7.68403663e-01 -2.73884098e-03 4.30632422e+01] [ 4.28568238e-03 -5.00754894e-06 9.99990816e-01 3.84249263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.40, Y:43.08, Z:0.39 [[ 7.69445536e-01 -6.38703925e-01 -3.29583774e-03 1.26403822e+02] [ 6.38698051e-01 7.69452595e-01 -2.73944365e-03 4.30818569e+01] [ 4.28568431e-03 2.80755258e-06 9.99990816e-01 3.85421539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:43.10, Z:0.39 [[ 7.71229463e-01 -6.36548706e-01 -3.29533686e-03 1.26423256e+02] [ 6.36542809e-01 7.71236503e-01 -2.74004604e-03 4.31004562e+01] [ 4.28565684e-03 1.55812585e-05 9.99990816e-01 3.86089245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.44, Y:43.12, Z:0.39 [[ 7.71778652e-01 -6.35882738e-01 -3.29497096e-03 1.26444369e+02] [ 6.35876833e-01 7.71785685e-01 -2.74048597e-03 4.31189577e+01] [ 4.28563914e-03 1.98528627e-05 9.99990816e-01 3.86986575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.678623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.47, Y:43.14, Z:0.39 [[ 7.72302536e-01 -6.35246362e-01 -3.29447458e-03 1.26465819e+02] [ 6.35240448e-01 7.72309562e-01 -2.74108256e-03 4.31371976e+01] [ 4.28561695e-03 2.41615056e-05 9.99990816e-01 3.86196852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.49, Y:43.15, Z:0.39 [[ 7.72518131e-01 -6.34984163e-01 -3.29398303e-03 1.26486270e+02] [ 6.34978244e-01 7.72525153e-01 -2.74167313e-03 4.31547858e+01] [ 4.28560377e-03 2.63846405e-05 9.99990816e-01 3.85283514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:43.17, Z:0.38 [[ 7.72769825e-01 -6.34677833e-01 -3.29346126e-03 1.26505966e+02] [ 6.34671909e-01 7.72776842e-01 -2.74229978e-03 4.31736619e+01] [ 4.28558747e-03 2.88991787e-05 9.99990816e-01 3.84343429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.53, Y:43.19, Z:0.38 [[ 7.72668024e-01 -6.34801765e-01 -3.29294817e-03 1.26525822e+02] [ 6.34795840e-01 7.72675040e-01 -2.74291576e-03 4.31914669e+01] [ 4.28558662e-03 2.90135019e-05 9.99990816e-01 3.84323485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:43.21, Z:0.38 [[ 7.72429946e-01 -6.35091441e-01 -3.29243450e-03 1.26546802e+02] [ 6.35085516e-01 7.72436962e-01 -2.74353220e-03 4.32094489e+01] [ 4.28559192e-03 2.82089644e-05 9.99990816e-01 3.83633412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.828623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.57, Y:43.23, Z:0.38 [[ 7.71982966e-01 -6.35634693e-01 -3.29195249e-03 1.26567952e+02] [ 6.35628771e-01 7.71989984e-01 -2.74411043e-03 4.32271207e+01] [ 4.28560615e-03 2.59467916e-05 9.99990816e-01 3.83756391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.858623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.59, Y:43.25, Z:0.39 [[ 7.71212302e-01 -6.36569518e-01 -3.29147255e-03 1.26588121e+02] [ 6.36563601e-01 7.71219326e-01 -2.74468599e-03 4.32455292e+01] [ 4.28563068e-03 2.15039789e-05 9.99990816e-01 3.85117815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.61, Y:43.26, Z:0.39 [[ 7.70608906e-01 -6.37299838e-01 -3.29096504e-03 1.26608958e+02] [ 6.37293925e-01 7.70615933e-01 -2.74529437e-03 4.32640233e+01] [ 4.28564575e-03 1.82362655e-05 9.99990816e-01 3.85766598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.63, Y:43.28, Z:0.39 [[ 7.69945361e-01 -6.38101335e-01 -3.29048997e-03 1.26630159e+02] [ 6.38095428e-01 7.69952392e-01 -2.74586367e-03 4.32823400e+01] [ 4.28565990e-03 1.45183869e-05 9.99990816e-01 3.87721438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.65, Y:43.30, Z:0.39 [[ 7.69113960e-01 -6.39103195e-01 -3.28996752e-03 1.26650706e+02] [ 6.39097293e-01 7.69120996e-01 -2.74648950e-03 4.33002079e+01] [ 4.28567331e-03 9.75408088e-06 9.99990816e-01 3.87857085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.67, Y:43.32, Z:0.39 [[ 7.68257981e-01 -6.40131904e-01 -3.28949844e-03 1.26670995e+02] [ 6.40126010e-01 7.68265023e-01 -2.74705121e-03 4.33180998e+01] [ 4.28568172e-03 4.75051110e-06 9.99990816e-01 3.87611894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.69, Y:43.34, Z:0.39 [[ 7.66306793e-01 -6.42466404e-01 -3.28911846e-03 1.26692548e+02] [ 6.42460529e-01 7.66313852e-01 -2.74750610e-03 4.33360470e+01] [ 4.28567740e-03 -7.69619560e-06 9.99990816e-01 3.87148874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.71, Y:43.35, Z:0.39 [[ 7.65285872e-01 -6.43682157e-01 -3.28859283e-03 1.26713677e+02] [ 6.43676291e-01 7.65292938e-01 -2.74813510e-03 4.33532954e+01] [ 4.28566239e-03 -1.36802628e-05 9.99990816e-01 3.86752068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.74, Y:43.37, Z:0.39 [[ 7.64490797e-01 -6.44626256e-01 -3.28820795e-03 1.26735516e+02] [ 6.44620396e-01 7.64497868e-01 -2.74859554e-03 4.33712653e+01] [ 4.28564482e-03 -1.83699217e-05 9.99990816e-01 3.87384112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:43.39, Z:0.39 [[ 7.63810359e-01 -6.45432356e-01 -3.28769087e-03 1.26756736e+02] [ 6.45426502e-01 7.63817434e-01 -2.74921390e-03 4.33896753e+01] [ 4.28562721e-03 -2.20847626e-05 9.99990816e-01 3.87316416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:43.41, Z:0.39 [[ 7.63858264e-01 -6.45375664e-01 -3.28717095e-03 1.26778004e+02] [ 6.45369806e-01 7.63865337e-01 -2.74983541e-03 4.34079371e+01] [ 4.28563280e-03 -2.09563794e-05 9.99990816e-01 3.87769535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.80, Y:43.43, Z:0.39 [[ 7.64089751e-01 -6.45101582e-01 -3.28664818e-03 1.26798398e+02] [ 6.45095718e-01 7.64096819e-01 -2.75046010e-03 4.34255624e+01] [ 4.28564358e-03 -1.86042946e-05 9.99990816e-01 3.87458695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.82, Y:43.44, Z:0.39 [[ 7.64616867e-01 -6.44476724e-01 -3.28626638e-03 1.26819142e+02] [ 6.44470853e-01 7.64623929e-01 -2.75091620e-03 4.34437871e+01] [ 4.28565937e-03 -1.45059728e-05 9.99990816e-01 3.87857266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.84, Y:43.46, Z:0.39 [[ 7.65352881e-01 -6.43602495e-01 -3.28576340e-03 1.26839723e+02] [ 6.43596613e-01 7.65359934e-01 -2.75151683e-03 4.34612776e+01] [ 4.28567476e-03 -8.82486140e-06 9.99990816e-01 3.87861404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.86, Y:43.48, Z:0.39 [[ 7.66815217e-01 -6.41859509e-01 -3.28523110e-03 1.26861436e+02] [ 6.41853609e-01 7.66822255e-01 -2.75215224e-03 4.34784540e+01] [ 4.28568341e-03 1.75477955e-06 9.99990816e-01 3.88417786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:43.50, Z:0.39 [[ 7.67446953e-01 -6.41104036e-01 -3.28471054e-03 1.26882183e+02] [ 6.41098126e-01 7.67453982e-01 -2.75277339e-03 4.34959466e+01] [ 4.28567832e-03 6.78577288e-06 9.99990816e-01 3.87731002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:43.51, Z:0.39 [[ 7.68046284e-01 -6.40385915e-01 -3.28416129e-03 1.26903012e+02] [ 6.40379996e-01 7.68053305e-01 -2.75342851e-03 4.35144971e+01] [ 4.28566777e-03 1.16493496e-05 9.99990816e-01 3.87158865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:43.53, Z:0.39 [[ 7.68463093e-01 -6.39885686e-01 -3.28365125e-03 1.26922822e+02] [ 6.39879760e-01 7.68470109e-01 -2.75403663e-03 4.35327098e+01] [ 4.28565646e-03 1.52335346e-05 9.99990816e-01 3.86921893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.94, Y:43.55, Z:0.39 [[ 7.69659787e-01 -6.38445795e-01 -3.28311142e-03 1.26942816e+02] [ 6.38439853e-01 7.69666789e-01 -2.75468002e-03 4.35514880e+01] [ 4.28561570e-03 2.40972591e-05 9.99990816e-01 3.87367825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.96, Y:43.57, Z:0.39 [[ 7.70117140e-01 -6.37894048e-01 -3.28258310e-03 1.26963453e+02] [ 6.37888098e-01 7.70124135e-01 -2.75530944e-03 4.35699062e+01] [ 4.28559196e-03 2.79903316e-05 9.99990816e-01 3.88705521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.98, Y:43.59, Z:0.39 [[ 7.70624206e-01 -6.37281383e-01 -3.28208858e-03 1.26984705e+02] [ 6.37275425e-01 7.70631195e-01 -2.75589838e-03 4.35886138e+01] [ 4.28556257e-03 3.21676023e-05 9.99990816e-01 3.90530275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.01, Y:43.61, Z:0.39 [[ 7.71177170e-01 -6.36612129e-01 -3.28156779e-03 1.27005000e+02] [ 6.36606162e-01 7.71184151e-01 -2.75651837e-03 4.36065341e+01] [ 4.28552610e-03 3.66977600e-05 9.99990816e-01 3.90615060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.02, Y:43.62, Z:0.39 [[ 7.71552384e-01 -6.36157334e-01 -3.28101877e-03 1.27024957e+02] [ 6.36151360e-01 7.71559359e-01 -2.75717170e-03 4.36247903e+01] [ 4.28549574e-03 4.00778455e-05 9.99990816e-01 3.90499481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.05, Y:43.64, Z:0.39 [[ 7.72008067e-01 -6.35604266e-01 -3.28048659e-03 1.27045336e+02] [ 6.35598285e-01 7.72015035e-01 -2.75780475e-03 4.36442969e+01] [ 4.28545743e-03 4.39758635e-05 9.99990816e-01 3.90164463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.07, Y:43.66, Z:0.39 [[ 7.71977493e-01 -6.35641402e-01 -3.27997256e-03 1.27065627e+02] [ 6.35635418e-01 7.71984460e-01 -2.75841597e-03 4.36625826e+01] [ 4.28545124e-03 4.45683134e-05 9.99990816e-01 3.89910738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:43.68, Z:0.39 [[ 7.71878447e-01 -6.35761675e-01 -3.27942996e-03 1.27085505e+02] [ 6.35755690e-01 7.71885413e-01 -2.75906090e-03 4.36808951e+01] [ 4.28544933e-03 4.47433874e-05 9.99990816e-01 3.89515617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.11, Y:43.70, Z:0.39 [[ 7.71253714e-01 -6.36519408e-01 -3.27889181e-03 1.27105911e+02] [ 6.36513427e-01 7.71260683e-01 -2.75970029e-03 4.36995345e+01] [ 4.28548314e-03 4.13704385e-05 9.99990816e-01 3.90963236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.13, Y:43.72, Z:0.39 [[ 7.70738237e-01 -6.37143487e-01 -3.27836863e-03 1.27126096e+02] [ 6.37137509e-01 7.70745208e-01 -2.76032167e-03 4.37170268e+01] [ 4.28550788e-03 3.87138326e-05 9.99990816e-01 3.88858169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.15, Y:43.74, Z:0.39 [[ 7.70066804e-01 -6.37954837e-01 -3.27789997e-03 1.27147207e+02] [ 6.37948863e-01 7.70073779e-01 -2.76087809e-03 4.37357734e+01] [ 4.28554035e-03 3.49280010e-05 9.99990816e-01 3.90352344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:43.75, Z:0.39 [[ 7.69348752e-01 -6.38820598e-01 -3.27739613e-03 1.27167865e+02] [ 6.38814630e-01 7.69355732e-01 -2.76147605e-03 4.37541838e+01] [ 4.28557129e-03 3.08895576e-05 9.99990816e-01 3.91988250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:43.77, Z:0.39 [[ 7.68181869e-01 -6.40223303e-01 -3.27687663e-03 1.27187837e+02] [ 6.40217346e-01 7.68188858e-01 -2.76209238e-03 4.37729759e+01] [ 4.28561602e-03 2.38760304e-05 9.99990816e-01 3.92056334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.21, Y:43.79, Z:0.39 [[ 7.67730176e-01 -6.40764889e-01 -3.27632877e-03 1.27207778e+02] [ 6.40758933e-01 7.67737166e-01 -2.76274209e-03 4.37905909e+01] [ 4.28562749e-03 2.17035485e-05 9.99990816e-01 3.92209217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:43.81, Z:0.39 [[ 7.67197554e-01 -6.41402512e-01 -3.27580081e-03 1.27228907e+02] [ 6.41396559e-01 7.67204547e-01 -2.76336795e-03 4.38095512e+01] [ 4.28564042e-03 1.89617695e-05 9.99990816e-01 3.92580434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:43.83, Z:0.39 [[ 7.66672360e-01 -6.42030189e-01 -3.27530185e-03 1.27250118e+02] [ 6.42024240e-01 7.66679356e-01 -2.76395922e-03 4.38283182e+01] [ 4.28565158e-03 1.62279613e-05 9.99990816e-01 3.92878813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:43.85, Z:0.39 [[ 7.65651245e-01 -6.43247578e-01 -3.27479455e-03 1.27270924e+02] [ 6.43241637e-01 7.65658249e-01 -2.76456015e-03 4.38471382e+01] [ 4.28567008e-03 1.02047098e-05 9.99990816e-01 3.93700059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:43.86, Z:0.39 [[ 7.64992328e-01 -6.44031068e-01 -3.27427476e-03 1.27291410e+02] [ 6.44025132e-01 7.64999335e-01 -2.76517563e-03 4.38648018e+01] [ 4.28567704e-03 6.62290801e-06 9.99990816e-01 3.93721306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:43.88, Z:0.39 [[ 7.64286816e-01 -6.44868161e-01 -3.27372451e-03 1.27312890e+02] [ 6.44862230e-01 7.64293827e-01 -2.76582693e-03 4.38831742e+01] [ 4.28568116e-03 2.78376735e-06 9.99990816e-01 3.94580977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:43.90, Z:0.39 [[ 7.63601920e-01 -6.45679018e-01 -3.27321517e-03 1.27332997e+02] [ 6.45673092e-01 7.63608935e-01 -2.76642958e-03 4.39004716e+01] [ 4.28568188e-03 -9.76022447e-07 9.99990816e-01 3.94501922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:43.92, Z:0.40 [[ 7.62768884e-01 -6.46662910e-01 -3.27284327e-03 1.27354199e+02] [ 6.46656990e-01 7.62775905e-01 -2.76686949e-03 4.39187234e+01] [ 4.28567786e-03 -5.92502981e-06 9.99990816e-01 3.96716035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:43.94, Z:0.40 [[ 7.61823042e-01 -6.47776925e-01 -3.27234774e-03 1.27374163e+02] [ 6.47771014e-01 7.61830070e-01 -2.76745542e-03 4.39363817e+01] [ 4.28566667e-03 -1.14207109e-05 9.99990816e-01 3.96836303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:43.95, Z:0.40 [[ 7.61354233e-01 -6.48327870e-01 -3.27178557e-03 1.27395478e+02] [ 6.48321961e-01 7.61361263e-01 -2.76811988e-03 4.39545901e+01] [ 4.28566006e-03 -1.36506512e-05 9.99990816e-01 3.97042695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:43.97, Z:0.40 [[ 7.61193820e-01 -6.48516204e-01 -3.27126584e-03 1.27416326e+02] [ 6.48510294e-01 7.61200849e-01 -2.76873395e-03 4.39719789e+01] [ 4.28565916e-03 -1.39064022e-05 9.99990816e-01 3.95511323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.44, Y:43.99, Z:0.40 [[ 7.60748046e-01 -6.49039069e-01 -3.27071626e-03 1.27437796e+02] [ 6.49033160e-01 7.60755077e-01 -2.76938301e-03 4.39901816e+01] [ 4.28565177e-03 -1.60005953e-05 9.99990816e-01 3.97277863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.118623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:127.46, Y:44.01, Z:0.40 [[ 7.60816635e-01 -6.48958669e-01 -3.27015978e-03 1.27458478e+02] [ 6.48952757e-01 7.60823663e-01 -2.77003996e-03 4.40081567e+01] [ 4.28565639e-03 -1.46867273e-05 9.99990816e-01 4.01452382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.48, Y:44.03, Z:0.39 [[ 7.60894369e-01 -6.48867527e-01 -3.26978824e-03 1.27479908e+02] [ 6.48861612e-01 7.60901395e-01 -2.77047846e-03 4.40261894e+01] [ 4.28565994e-03 -1.35986062e-05 9.99990816e-01 3.94859810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.178623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.50, Y:44.04, Z:0.39 [[ 7.61169873e-01 -6.48544321e-01 -3.26926563e-03 1.27500278e+02] [ 6.48538401e-01 7.61176893e-01 -2.77109502e-03 4.40438615e+01] [ 4.28566740e-03 -1.09702653e-05 9.99990816e-01 3.93929180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.52, Y:44.06, Z:0.39 [[ 7.61050224e-01 -6.48684724e-01 -3.26871467e-03 1.27521907e+02] [ 6.48678803e-01 7.61057244e-01 -2.77174477e-03 4.40624487e+01] [ 4.28566747e-03 -1.09089462e-05 9.99990816e-01 3.94051234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.238623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:127.54, Y:44.08, Z:0.39 [[ 7.61749533e-01 -6.47863387e-01 -3.26820326e-03 1.27541673e+02] [ 6.47857455e-01 7.61756544e-01 -2.77234765e-03 4.40806680e+01] [ 4.28567776e-03 -5.49531951e-06 9.99990816e-01 3.94517632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.268623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.56, Y:44.10, Z:0.40 [[ 7.62154671e-01 -6.47386731e-01 -3.26766261e-03 1.27562385e+02] [ 6.47380793e-01 7.62161676e-01 -2.77298475e-03 4.40991952e+01] [ 4.28568074e-03 -1.97873484e-06 9.99990816e-01 3.95993482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.58, Y:44.12, Z:0.40 [[ 7.62186492e-01 -6.47349270e-01 -3.26713630e-03 1.27583028e+02] [ 6.47343328e-01 7.62193494e-01 -2.77360471e-03 4.41180686e+01] [ 4.28568102e-03 -9.54844815e-07 9.99990816e-01 3.96390175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.328623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.60, Y:44.14, Z:0.40 [[ 7.62153025e-01 -6.47388674e-01 -3.26660922e-03 1.27603643e+02] [ 6.47382730e-01 7.62160026e-01 -2.77422534e-03 4.41359041e+01] [ 4.28568103e-03 -3.62163982e-07 9.99990816e-01 3.95889703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.358623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.63, Y:44.15, Z:0.40 [[ 7.61424520e-01 -6.48245350e-01 -3.26605219e-03 1.27625868e+02] [ 6.48239411e-01 7.61431524e-01 -2.77488097e-03 4.41534503e+01] [ 4.28567878e-03 -4.32134105e-06 9.99990816e-01 3.96732674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.388623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:127.65, Y:44.17, Z:0.40 [[ 7.60962121e-01 -6.48788090e-01 -3.26552999e-03 1.27646566e+02] [ 6.48782154e-01 7.60969128e-01 -2.77549536e-03 4.41709650e+01] [ 4.28567585e-03 -6.57074210e-06 9.99990816e-01 3.95543752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.418623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:127.67, Y:44.19, Z:0.39 [[ 7.60667581e-01 -6.49133400e-01 -3.26497827e-03 1.27667642e+02] [ 6.49127464e-01 7.60674588e-01 -2.77614424e-03 4.41893410e+01] [ 4.28567395e-03 -7.66413982e-06 9.99990816e-01 3.94133999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44862385300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:127.69, Y:44.21, Z:0.39 [[ 7.60355358e-01 -6.49499094e-01 -3.26446703e-03 1.27688668e+02] [ 6.49493159e-01 7.60362365e-01 -2.77674527e-03 4.42077744e+01] [ 4.28567141e-03 -8.93585361e-06 9.99990816e-01 3.94605978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.71, Y:44.23, Z:0.39 [[ 7.60331175e-01 -6.49527406e-01 -3.26391240e-03 1.27709218e+02] [ 6.49521468e-01 7.60338181e-01 -2.77739705e-03 4.42260157e+01] [ 4.28567272e-03 -8.23961337e-06 9.99990816e-01 3.93417145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:44.24, Z:0.39 [[ 7.60434794e-01 -6.49406093e-01 -3.26341597e-03 1.27729311e+02] [ 6.49400152e-01 7.60441797e-01 -2.77798023e-03 4.42443219e+01] [ 4.28567519e-03 -6.78999881e-06 9.99990816e-01 3.93640040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.75, Y:44.26, Z:0.39 [[ 7.60529805e-01 -6.49294824e-01 -3.26303799e-03 1.27749399e+02] [ 6.49288879e-01 7.60536805e-01 -2.77842414e-03 4.42627098e+01] [ 4.28567690e-03 -5.57990636e-06 9.99990816e-01 3.93049073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56862385300002 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:127.77, Y:44.28, Z:0.40 [[ 7.60603256e-01 -6.49208782e-01 -3.26249890e-03 1.27770572e+02] [ 6.49202834e-01 7.60610253e-01 -2.77905701e-03 4.42816524e+01] [ 4.28567833e-03 -4.26372197e-06 9.99990816e-01 3.96207526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:127.79, Y:44.30, Z:0.40 [[ 7.60418121e-01 -6.49425624e-01 -3.26195912e-03 1.27791083e+02] [ 6.49419675e-01 7.60425117e-01 -2.77969043e-03 4.42993607e+01] [ 4.28567784e-03 -4.65345690e-06 9.99990816e-01 3.96895055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.81, Y:44.32, Z:0.40 [[ 7.60203767e-01 -6.49676531e-01 -3.26147127e-03 1.27811403e+02] [ 6.49670582e-01 7.60210763e-01 -2.78026273e-03 4.43169854e+01] [ 4.28567701e-03 -5.31574123e-06 9.99990816e-01 3.96538393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.83, Y:44.34, Z:0.40 [[ 7.60010904e-01 -6.49902140e-01 -3.26108190e-03 1.27832485e+02] [ 6.49896191e-01 7.60017900e-01 -2.78071936e-03 4.43353212e+01] [ 4.28567608e-03 -5.98766769e-06 9.99990816e-01 3.97668004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:127.85, Y:44.35, Z:0.40 [[ 7.59793162e-01 -6.50156688e-01 -3.26056082e-03 1.27852663e+02] [ 6.50150739e-01 7.59800158e-01 -2.78133022e-03 4.43528015e+01] [ 4.28567507e-03 -6.62034052e-06 9.99990816e-01 3.97415452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71862385300003 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:127.87, Y:44.37, Z:0.40 [[ 7.59721240e-01 -6.50240733e-01 -3.26000865e-03 1.27873976e+02] [ 6.50234781e-01 7.59728234e-01 -2.78197728e-03 4.43712057e+01] [ 4.28567555e-03 -6.24378603e-06 9.99990816e-01 3.99030808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:127.89, Y:44.39, Z:0.40 [[ 7.59708747e-01 -6.50255331e-01 -3.25948482e-03 1.27894960e+02] [ 6.50249378e-01 7.59715739e-01 -2.78259088e-03 4.43900832e+01] [ 4.28567647e-03 -5.51934239e-06 9.99990816e-01 3.99178637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.778623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.92, Y:44.41, Z:0.40 [[ 7.59517998e-01 -6.50478124e-01 -3.25896181e-03 1.27916132e+02] [ 6.50472170e-01 7.59524990e-01 -2.78320329e-03 4.44088686e+01] [ 4.28567579e-03 -5.97097077e-06 9.99990816e-01 3.98743727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:127.94, Y:44.43, Z:0.40 [[ 7.59599915e-01 -6.50382466e-01 -3.25843019e-03 1.27936961e+02] [ 6.50376508e-01 7.59606904e-01 -2.78382555e-03 4.44271527e+01] [ 4.28567739e-03 -4.61280107e-06 9.99990816e-01 3.98322032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.838623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:127.96, Y:44.45, Z:0.40 [[ 7.59617790e-01 -6.50361591e-01 -3.25790038e-03 1.27957440e+02] [ 6.50355630e-01 7.59624776e-01 -2.78444544e-03 4.44455690e+01] [ 4.28567822e-03 -3.67956724e-06 9.99990816e-01 3.98434878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:127.98, Y:44.46, Z:0.40 [[ 7.59953027e-01 -6.49969835e-01 -3.25736640e-03 1.27977147e+02] [ 6.49963868e-01 7.59960008e-01 -2.78506998e-03 4.44639296e+01] [ 4.28567967e-03 -6.48103066e-07 9.99990816e-01 3.99165873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.898623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:128.00, Y:44.48, Z:0.40 [[ 7.59932330e-01 -6.49994036e-01 -3.25680242e-03 1.27998290e+02] [ 6.49988067e-01 7.59939309e-01 -2.78572933e-03 4.44829459e+01] [ 4.28567963e-03 8.30749507e-08 9.99990816e-01 3.99462378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:128.02, Y:44.50, Z:0.40 [[ 7.59845646e-01 -6.50095371e-01 -3.25627797e-03 1.28018233e+02] [ 6.50089400e-01 7.59852623e-01 -2.78634223e-03 4.45006794e+01] [ 4.28567954e-03 3.18225235e-07 9.99990816e-01 3.99249010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.958623853 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:128.04, Y:44.52, Z:0.40 [[ 7.59507388e-01 -6.50490527e-01 -3.25589424e-03 1.28039454e+02] [ 6.50484558e-01 7.59514367e-01 -2.78679055e-03 4.45193417e+01] [ 4.28567931e-03 -1.32091162e-06 9.99990816e-01 3.99418783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:128.06, Y:44.54, Z:0.40 [[ 7.59152224e-01 -6.50904988e-01 -3.25535901e-03 1.28060517e+02] [ 6.50899020e-01 7.59159204e-01 -2.78741564e-03 4.45377908e+01] [ 4.28567849e-03 -2.83720279e-06 9.99990816e-01 3.99785284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.018623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:128.08, Y:44.56, Z:0.40 [[ 7.58729707e-01 -6.51397450e-01 -3.25481430e-03 1.28080875e+02] [ 6.51391483e-01 7.58736689e-01 -2.78805154e-03 4.45555028e+01] [ 4.28567669e-03 -4.78078520e-06 9.99990816e-01 3.99187550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.048623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:128.10, Y:44.57, Z:0.40 [[ 7.58267999e-01 -6.51934852e-01 -3.25432328e-03 1.28101908e+02] [ 6.51928888e-01 7.58274983e-01 -2.78862456e-03 4.45735704e+01] [ 4.28567347e-03 -7.06259156e-06 9.99990816e-01 3.99826738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.078623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:128.12, Y:44.59, Z:0.40 [[ 7.56580428e-01 -6.53892552e-01 -3.25379190e-03 1.28123277e+02] [ 6.53886603e-01 7.56587424e-01 -2.78924444e-03 4.45916163e+01] [ 4.28564420e-03 -1.73231808e-05 9.99990816e-01 4.01141906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.108623853 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:128.14, Y:44.61, Z:0.41 [[ 7.55593168e-01 -6.55033114e-01 -3.25324896e-03 1.28143496e+02] [ 6.55027173e-01 7.55600171e-01 -2.78987756e-03 4.46090154e+01] [ 4.28561766e-03 -2.29540423e-05 9.99990816e-01 4.06952169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.138623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:128.17, Y:44.63, Z:0.40 [[ 7.54374710e-01 -6.56435996e-01 -3.25267499e-03 1.28165435e+02] [ 6.56430065e-01 7.54381722e-01 -2.79054657e-03 4.46268107e+01] [ 4.28557378e-03 -3.00358953e-05 9.99990816e-01 4.00583713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.168623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:128.19, Y:44.64, Z:0.40 [[ 7.53161253e-01 -6.57827903e-01 -3.25214391e-03 1.28187049e+02] [ 6.57821983e-01 7.53168274e-01 -2.79116537e-03 4.46449457e+01] [ 4.28551808e-03 -3.71341438e-05 9.99990816e-01 4.00079868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:128.21, Y:44.66, Z:0.40 [[ 7.52144851e-01 -6.58989795e-01 -3.25161147e-03 1.28208939e+02] [ 6.58983883e-01 7.52151878e-01 -2.79178551e-03 4.46631774e+01] [ 4.28546383e-03 -4.29324597e-05 9.99990816e-01 3.99761876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.23, Y:44.68, Z:0.40 [[ 7.50588669e-01 -6.60761742e-01 -3.25107635e-03 1.28229758e+02] [ 6.60755844e-01 7.50595708e-01 -2.79240853e-03 4.46803914e+01] [ 4.28536068e-03 -5.22174975e-05 9.99990816e-01 3.97655292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:128.25, Y:44.70, Z:0.40 [[ 7.50064094e-01 -6.61357156e-01 -3.25068458e-03 1.28251191e+02] [ 6.61351262e-01 7.50071136e-01 -2.79286452e-03 4.46981770e+01] [ 4.28532561e-03 -5.50169518e-05 9.99990816e-01 3.99036668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28862385300002 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:128.27, Y:44.72, Z:0.41 [[ 7.49919306e-01 -6.61521330e-01 -3.25016368e-03 1.28273118e+02] [ 6.61515434e-01 7.49926348e-01 -2.79347058e-03 4.47163438e+01] [ 4.28532375e-03 -5.51559185e-05 9.99990816e-01 4.07877290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:128.30, Y:44.73, Z:0.40 [[ 7.49693078e-01 -6.61777704e-01 -3.24964237e-03 1.28295077e+02] [ 6.61771808e-01 7.49700119e-01 -2.79407688e-03 4.47334216e+01] [ 4.28531505e-03 -5.58216087e-05 9.99990816e-01 4.00540054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:128.32, Y:44.75, Z:0.40 [[ 7.49897839e-01 -6.61545670e-01 -3.24911341e-03 1.28316166e+02] [ 6.61539770e-01 7.49904876e-01 -2.79469185e-03 4.47499314e+01] [ 4.28534228e-03 -5.36843544e-05 9.99990816e-01 4.01222094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:128.34, Y:44.77, Z:0.40 [[ 7.50019436e-01 -6.61407811e-01 -3.24872444e-03 1.28337494e+02] [ 6.61401906e-01 7.50026470e-01 -2.79514394e-03 4.47678709e+01] [ 4.28535936e-03 -5.23002622e-05 9.99990816e-01 4.01436653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:128.36, Y:44.79, Z:0.40 [[ 7.50337372e-01 -6.61047107e-01 -3.24820514e-03 1.28358940e+02] [ 6.61041197e-01 7.50344401e-01 -2.79574729e-03 4.47856507e+01] [ 4.28539319e-03 -4.94437431e-05 9.99990816e-01 4.01510640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.38, Y:44.80, Z:0.40 [[ 7.50648615e-01 -6.60693658e-01 -3.24768656e-03 1.28380519e+02] [ 6.60687742e-01 7.50655639e-01 -2.79634957e-03 4.48037291e+01] [ 4.28542465e-03 -4.66307675e-05 9.99990816e-01 4.01500650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.40, Y:44.82, Z:0.40 [[ 7.51560880e-01 -6.59655744e-01 -3.24716593e-03 1.28402124e+02] [ 6.59649815e-01 7.51567893e-01 -2.79695399e-03 4.48205598e+01] [ 4.28549243e-03 -3.99112066e-05 9.99990816e-01 4.01148474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.498623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.42, Y:44.84, Z:0.40 [[ 7.51975279e-01 -6.59183312e-01 -3.24661430e-03 1.28423681e+02] [ 6.59177376e-01 7.51982287e-01 -2.79759417e-03 4.48389165e+01] [ 4.28552383e-03 -3.63730362e-05 9.99990816e-01 4.01106577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.45, Y:44.86, Z:0.40 [[ 7.53442352e-01 -6.57505959e-01 -3.24610501e-03 1.28445042e+02] [ 6.57500005e-01 7.53449344e-01 -2.79818498e-03 4.48568926e+01] [ 4.28559899e-03 -2.60429888e-05 9.99990816e-01 4.01787079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.558623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.47, Y:44.88, Z:0.40 [[ 7.54130732e-01 -6.56716306e-01 -3.24559258e-03 1.28466703e+02] [ 6.56710342e-01 7.54137715e-01 -2.79877922e-03 4.48752698e+01] [ 4.28562772e-03 -2.07687957e-05 9.99990816e-01 4.02701605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:128.49, Y:44.89, Z:0.40 [[ 7.54870780e-01 -6.55865516e-01 -3.24508069e-03 1.28487722e+02] [ 6.55859542e-01 7.54877755e-01 -2.79937261e-03 4.48934687e+01] [ 4.28565119e-03 -1.51525503e-05 9.99990816e-01 4.03271697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.618623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.51, Y:44.91, Z:0.40 [[ 7.55692650e-01 -6.54918386e-01 -3.24457128e-03 1.28508853e+02] [ 6.54912400e-01 7.55699615e-01 -2.79996291e-03 4.49111459e+01] [ 4.28566845e-03 -8.99857752e-06 9.99990816e-01 4.03913657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:128.53, Y:44.93, Z:0.41 [[ 7.57565772e-01 -6.52750778e-01 -3.24406104e-03 1.28530169e+02] [ 6.52744770e-01 7.57572717e-01 -2.80055395e-03 4.49293377e+01] [ 4.28567591e-03 4.05993948e-06 9.99990816e-01 4.05151613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.55, Y:44.95, Z:0.40 [[ 7.58458639e-01 -6.51713106e-01 -3.24352717e-03 1.28550496e+02] [ 6.51707086e-01 7.58465574e-01 -2.80117213e-03 4.49468661e+01] [ 4.28566429e-03 1.07435618e-05 9.99990816e-01 4.03510606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:128.57, Y:44.97, Z:0.40 [[ 7.59339520e-01 -6.50686543e-01 -3.24296453e-03 1.28571823e+02] [ 6.50680511e-01 7.59346444e-01 -2.80182335e-03 4.49654918e+01] [ 4.28564234e-03 1.74013785e-05 9.99990816e-01 4.03396160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.738623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.59, Y:44.98, Z:0.40 [[ 7.60095731e-01 -6.49803021e-01 -3.24247278e-03 1.28592312e+02] [ 6.49796978e-01 7.60102647e-01 -2.80239233e-03 4.49839150e+01] [ 4.28561514e-03 2.31374315e-05 9.99990816e-01 4.03810325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.768623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:128.61, Y:45.00, Z:0.40 [[ 7.61307883e-01 -6.48382446e-01 -3.24197339e-03 1.28612615e+02] [ 6.48376388e-01 7.61314786e-01 -2.80296993e-03 4.50033935e+01] [ 4.28555878e-03 3.19041045e-05 9.99990816e-01 4.04544798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.798623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:128.63, Y:45.02, Z:0.41 [[ 7.61842454e-01 -6.47754249e-01 -3.24146446e-03 1.28633170e+02] [ 6.47748183e-01 7.61849349e-01 -2.80355836e-03 4.50218146e+01] [ 4.28552443e-03 3.62170698e-05 9.99990816e-01 4.05301516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.828623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:128.65, Y:45.04, Z:0.40 [[ 7.62080991e-01 -6.47473598e-01 -3.24093854e-03 1.28653133e+02] [ 6.47467527e-01 7.62087881e-01 -2.80416619e-03 4.50400081e+01] [ 4.28550356e-03 3.85992853e-05 9.99990816e-01 4.04313189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.858623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:128.67, Y:45.06, Z:0.40 [[ 7.62466498e-01 -6.47019581e-01 -3.24038302e-03 1.28674168e+02] [ 6.47013503e-01 7.62473383e-01 -2.80480798e-03 4.50592534e+01] [ 4.28547149e-03 4.20005527e-05 9.99990816e-01 4.04442144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.888623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:128.70, Y:45.08, Z:0.41 [[ 7.62591552e-01 -6.46872188e-01 -3.23985649e-03 1.28695381e+02] [ 6.46866107e-01 7.62598433e-01 -2.80541606e-03 4.50782710e+01] [ 4.28545510e-03 4.36332331e-05 9.99990816e-01 4.12146308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.918623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.72, Y:45.10, Z:0.41 [[ 7.62312319e-01 -6.47201232e-01 -3.23936129e-03 1.28716647e+02] [ 6.47195151e-01 7.62319200e-01 -2.80598774e-03 4.50970525e+01] [ 4.28546603e-03 4.25401032e-05 9.99990816e-01 4.05561591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:128.74, Y:45.12, Z:0.41 [[ 7.62080634e-01 -6.47474028e-01 -3.23882594e-03 1.28737338e+02] [ 6.47467946e-01 7.62087516e-01 -2.80660553e-03 4.51160151e+01] [ 4.28547300e-03 4.18237431e-05 9.99990816e-01 4.06420170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97862385300002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:128.76, Y:45.13, Z:0.41 [[ 7.61952529e-01 -6.47624782e-01 -3.23827980e-03 1.28756832e+02] [ 6.47618699e-01 7.61959409e-01 -2.80723552e-03 4.51347589e+01] [ 4.28547306e-03 4.18096531e-05 9.99990816e-01 4.12828822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:128.78, Y:45.15, Z:0.41 [[ 7.61827032e-01 -6.47772407e-01 -3.23778900e-03 1.28776953e+02] [ 6.47766323e-01 7.61833911e-01 -2.80780149e-03 4.51539996e+01] [ 4.28547378e-03 4.17284031e-05 9.99990816e-01 4.06011307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:128.80, Y:45.17, Z:0.41 [[ 7.61739958e-01 -6.47874800e-01 -3.23727680e-03 1.28797992e+02] [ 6.47868714e-01 7.61746836e-01 -2.80839191e-03 4.51729307e+01] [ 4.28547170e-03 4.19339775e-05 9.99990816e-01 4.06349531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:128.82, Y:45.19, Z:0.41 [[ 7.61649425e-01 -6.47981232e-01 -3.23676127e-03 1.28818680e+02] [ 6.47975145e-01 7.61656301e-01 -2.80898595e-03 4.51915747e+01] [ 4.28546979e-03 4.21216802e-05 9.99990816e-01 4.07555070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:128.84, Y:45.21, Z:0.41 [[ 7.61583284e-01 -6.48058970e-01 -3.23622132e-03 1.28838513e+02] [ 6.48052880e-01 7.61590159e-01 -2.80960788e-03 4.52096888e+01] [ 4.28546590e-03 4.25078435e-05 9.99990816e-01 4.07322945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:128.86, Y:45.23, Z:0.41 [[ 7.61463389e-01 -6.48199843e-01 -3.23585296e-03 1.28859924e+02] [ 6.48193753e-01 7.61470263e-01 -2.81003207e-03 4.52285273e+01] [ 4.28546815e-03 4.22768699e-05 9.99990816e-01 4.07445056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.88, Y:45.25, Z:0.41 [[ 7.61255384e-01 -6.48444117e-01 -3.23533302e-03 1.28879476e+02] [ 6.48438027e-01 7.61262258e-01 -2.81063057e-03 4.52473756e+01] [ 4.28547378e-03 4.16946868e-05 9.99990816e-01 4.07516112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18862385300002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.90, Y:45.27, Z:0.41 [[ 7.60989975e-01 -6.48755574e-01 -3.23478337e-03 1.28898589e+02] [ 6.48749484e-01 7.60996849e-01 -2.81126302e-03 4.52668220e+01] [ 4.28548251e-03 4.07789297e-05 9.99990816e-01 4.07944511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:128.92, Y:45.29, Z:0.41 [[ 7.60965963e-01 -6.48783741e-01 -3.23424281e-03 1.28918647e+02] [ 6.48777649e-01 7.60972835e-01 -2.81188478e-03 4.52858951e+01] [ 4.28547605e-03 4.14441636e-05 9.99990816e-01 4.08407243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:128.94, Y:45.31, Z:0.41 [[ 7.60944368e-01 -6.48809072e-01 -3.23371964e-03 1.28938501e+02] [ 6.48802978e-01 7.60951238e-01 -2.81248631e-03 4.53059638e+01] [ 4.28546959e-03 4.20986875e-05 9.99990816e-01 4.08463967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.278623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:128.96, Y:45.33, Z:0.41 [[ 7.61263914e-01 -6.48434114e-01 -3.23318363e-03 1.28956866e+02] [ 6.48428013e-01 7.61270778e-01 -2.81310236e-03 4.53266958e+01] [ 4.28543975e-03 4.50264763e-05 9.99990816e-01 4.06489921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:128.98, Y:45.35, Z:0.41 [[ 7.61472817e-01 -6.48188783e-01 -3.23271342e-03 1.28977034e+02] [ 6.48182678e-01 7.61479677e-01 -2.81364260e-03 4.53467326e+01] [ 4.28541715e-03 4.71235110e-05 9.99990816e-01 4.07476716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.338623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:129.00, Y:45.37, Z:0.41 [[ 7.61741996e-01 -6.47872429e-01 -3.23217277e-03 1.28996001e+02] [ 6.47866319e-01 7.61748852e-01 -2.81426354e-03 4.53660399e+01] [ 4.28538765e-03 4.97268549e-05 9.99990816e-01 4.06798283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:129.01, Y:45.39, Z:0.41 [[ 7.62064651e-01 -6.47492875e-01 -3.23169142e-03 1.29014863e+02] [ 6.47486759e-01 7.62071502e-01 -2.81481617e-03 4.53858134e+01] [ 4.28535335e-03 5.25944981e-05 9.99990816e-01 4.06785827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.398623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:129.03, Y:45.41, Z:0.41 [[ 7.62316336e-01 -6.47196542e-01 -3.23114172e-03 1.29032988e+02] [ 6.47190420e-01 7.62323182e-01 -2.81544704e-03 4.54083829e+01] [ 4.28532182e-03 5.50973078e-05 9.99990816e-01 4.07939233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.05, Y:45.43, Z:0.41 [[ 7.62036921e-01 -6.47525516e-01 -3.23060740e-03 1.29051845e+02] [ 6.47519395e-01 7.62043767e-01 -2.81606002e-03 4.54276700e+01] [ 4.28533495e-03 5.40607582e-05 9.99990816e-01 4.07714209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.458623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:129.07, Y:45.45, Z:0.41 [[ 7.61672237e-01 -6.47954451e-01 -3.23012745e-03 1.29071676e+02] [ 6.47948331e-01 7.61679084e-01 -2.81661042e-03 4.54479281e+01] [ 4.28535578e-03 5.23782700e-05 9.99990816e-01 4.08255999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.09, Y:45.47, Z:0.41 [[ 7.61044887e-01 -6.48691183e-01 -3.22959632e-03 1.29090734e+02] [ 6.48685067e-01 7.61051738e-01 -2.81721930e-03 4.54676781e+01] [ 4.28539521e-03 4.90394343e-05 9.99990816e-01 4.07815599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.518623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:129.11, Y:45.49, Z:0.41 [[ 7.59212345e-01 -6.50834993e-01 -3.22903553e-03 1.29108575e+02] [ 6.50828894e-01 7.59219211e-01 -2.81786192e-03 4.54888246e+01] [ 4.28550895e-03 3.78059362e-05 9.99990816e-01 4.07114084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.548623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:129.13, Y:45.51, Z:0.41 [[ 7.58039486e-01 -6.52200671e-01 -3.22848017e-03 1.29128474e+02] [ 6.52194581e-01 7.58046360e-01 -2.81849807e-03 4.55085507e+01] [ 4.28556397e-03 3.09355559e-05 9.99990816e-01 4.08211985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.578623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:129.15, Y:45.53, Z:0.41 [[ 7.56621859e-01 -6.53844739e-01 -3.22795166e-03 1.29147980e+02] [ 6.53838662e-01 7.56628744e-01 -2.81910322e-03 4.55281397e+01] [ 4.28561682e-03 2.24355206e-05 9.99990816e-01 4.09272963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.608623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.17, Y:45.55, Z:0.41 [[ 7.55116177e-01 -6.55583056e-01 -3.22741045e-03 1.29167233e+02] [ 6.55576992e-01 7.55123074e-01 -2.81972268e-03 4.55474517e+01] [ 4.28565451e-03 1.34021725e-05 9.99990816e-01 4.08458887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.638623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.19, Y:45.57, Z:0.41 [[ 7.53527730e-01 -6.57408204e-01 -3.22692647e-03 1.29186767e+02] [ 6.57402154e-01 7.53534640e-01 -2.82027645e-03 4.55669422e+01] [ 4.28567375e-03 3.76809950e-06 9.99990816e-01 4.07886605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.668623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.21, Y:45.59, Z:0.41 [[ 7.50677470e-01 -6.60660977e-01 -3.22639999e-03 1.29205101e+02] [ 6.60654954e-01 7.50684404e-01 -2.82087861e-03 4.55868444e+01] [ 4.28565257e-03 -1.39671155e-05 9.99990816e-01 4.07198298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.23, Y:45.61, Z:0.41 [[ 7.49280921e-01 -6.62244438e-01 -3.22584116e-03 1.29225525e+02] [ 6.62238427e-01 7.49287865e-01 -2.82151753e-03 4.56066854e+01] [ 4.28561792e-03 -2.21667232e-05 9.99990816e-01 4.07226457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:129.24, Y:45.63, Z:0.41 [[ 7.47863614e-01 -6.63844570e-01 -3.22530146e-03 1.29244881e+02] [ 6.63838572e-01 7.47870568e-01 -2.82213433e-03 4.56259608e+01] [ 4.28556658e-03 -3.05079357e-05 9.99990816e-01 4.09035534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.26, Y:45.64, Z:0.40 [[ 7.46438688e-01 -6.65446382e-01 -3.22472788e-03 1.29264727e+02] [ 6.65440396e-01 7.46445652e-01 -2.82278957e-03 4.56441681e+01] [ 4.28549921e-03 -3.88248536e-05 9.99990816e-01 4.04960905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.29, Y:45.66, Z:0.40 [[ 7.43401503e-01 -6.68837656e-01 -3.22418067e-03 1.29285413e+02] [ 6.68831699e-01 7.43408492e-01 -2.82341446e-03 4.56635391e+01] [ 4.28528920e-03 -5.75036793e-05 9.99990816e-01 4.04133265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.31, Y:45.68, Z:0.41 [[ 7.41841224e-01 -6.70567823e-01 -3.22366733e-03 1.29306274e+02] [ 6.70561880e-01 7.41848226e-01 -2.82400045e-03 4.56827918e+01] [ 4.28515572e-03 -6.67084722e-05 9.99990816e-01 4.05157721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.33, Y:45.70, Z:0.41 [[ 7.40242329e-01 -6.72332437e-01 -3.22313559e-03 1.29326818e+02] [ 6.72326508e-01 7.40249342e-01 -2.82460722e-03 4.57019330e+01] [ 4.28499905e-03 -7.61056697e-05 9.99990816e-01 4.06262709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.35, Y:45.72, Z:0.41 [[ 7.37424591e-01 -6.75421785e-01 -3.22258627e-03 1.29347265e+02] [ 6.75415882e-01 7.37431627e-01 -2.82523380e-03 4.57198359e+01] [ 4.28466149e-03 -9.31890689e-05 9.99990816e-01 4.06210926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.37, Y:45.74, Z:0.41 [[ 7.35936513e-01 -6.77042885e-01 -3.22200590e-03 1.29367636e+02] [ 6.77036995e-01 7.35943559e-01 -2.82589551e-03 4.57370483e+01] [ 4.28446694e-03 -1.01737508e-04 9.99990816e-01 4.06945026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.39, Y:45.75, Z:0.41 [[ 7.34579765e-01 -6.78514695e-01 -3.22144338e-03 1.29388814e+02] [ 6.78508816e-01 7.34586820e-01 -2.82653662e-03 4.57546183e+01] [ 4.28427649e-03 -1.09461130e-04 9.99990816e-01 4.06681848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.41, Y:45.77, Z:0.41 [[ 7.33318491e-01 -6.79877648e-01 -3.22088523e-03 1.29409883e+02] [ 6.79871780e-01 7.33325555e-01 -2.82717250e-03 4.57724567e+01] [ 4.28408884e-03 -1.16571098e-04 9.99990816e-01 4.08732205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.43, Y:45.79, Z:0.41 [[ 7.31099858e-01 -6.82262872e-01 -3.22033560e-03 1.29430835e+02] [ 6.82257024e-01 7.31106939e-01 -2.82779843e-03 4.57890332e+01] [ 4.28371158e-03 -1.29693545e-04 9.99990816e-01 4.07427424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.45, Y:45.81, Z:0.41 [[ 7.30130359e-01 -6.83300294e-01 -3.21975524e-03 1.29452585e+02] [ 6.83294454e-01 7.30137446e-01 -2.82845907e-03 4.58063406e+01] [ 4.28355079e-03 -1.34897060e-04 9.99990816e-01 4.07586558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.058623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:129.48, Y:45.82, Z:0.41 [[ 7.29234688e-01 -6.84256097e-01 -3.21924152e-03 1.29475034e+02] [ 6.84250263e-01 7.29241780e-01 -2.82904366e-03 4.58238787e+01] [ 4.28339579e-03 -1.39730086e-04 9.99990816e-01 4.06863550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.50, Y:45.84, Z:0.41 [[ 7.28574310e-01 -6.84959206e-01 -3.21872614e-03 1.29496273e+02] [ 6.84953376e-01 7.28581406e-01 -2.82962990e-03 4.58402400e+01] [ 4.28328507e-03 -1.43081685e-04 9.99990816e-01 4.06051885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.118623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.52, Y:45.86, Z:0.41 [[ 7.28202048e-01 -6.85354960e-01 -3.21818278e-03 1.29519717e+02] [ 6.85349131e-01 7.28209145e-01 -2.83024774e-03 4.58565325e+01] [ 4.28323445e-03 -1.44586575e-04 9.99990816e-01 4.06871989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.54, Y:45.87, Z:0.41 [[ 7.28362984e-01 -6.85183924e-01 -3.21763417e-03 1.29541065e+02] [ 6.85178091e-01 7.28370077e-01 -2.83087130e-03 4.58738011e+01] [ 4.28329596e-03 -1.42750574e-04 9.99990816e-01 4.06653034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:45.89, Z:0.41 [[ 7.29802645e-01 -6.83650313e-01 -3.21705459e-03 1.29562559e+02] [ 6.83644462e-01 7.29809723e-01 -2.83152980e-03 4.58901319e+01] [ 4.28361395e-03 -1.32863619e-04 9.99990816e-01 4.05610014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:129.58, Y:45.91, Z:0.41 [[ 7.30646155e-01 -6.82748746e-01 -3.21648224e-03 1.29583975e+02] [ 6.82742884e-01 7.30653224e-01 -2.83217980e-03 4.59075148e+01] [ 4.28380033e-03 -1.26709077e-04 9.99990816e-01 4.07330772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.238623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.61, Y:45.92, Z:0.41 [[ 7.31341734e-01 -6.82003612e-01 -3.21593938e-03 1.29605090e+02] [ 6.81997739e-01 7.31348794e-01 -2.83279609e-03 4.59244858e+01] [ 4.28395055e-03 -1.21521385e-04 9.99990816e-01 4.06017450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.268623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:129.63, Y:45.94, Z:0.41 [[ 7.31878627e-01 -6.81427426e-01 -3.21536437e-03 1.29627285e+02] [ 6.81421545e-01 7.31885680e-01 -2.83344861e-03 4.59416473e+01] [ 4.28406873e-03 -1.17278078e-04 9.99990816e-01 4.08589028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.298623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:129.65, Y:45.96, Z:0.41 [[ 7.32326505e-01 -6.80946073e-01 -3.21479709e-03 1.29648724e+02] [ 6.80940185e-01 7.32333553e-01 -2.83409208e-03 4.59581358e+01] [ 4.28416765e-03 -1.13603775e-04 9.99990816e-01 4.07878088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.328623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:129.67, Y:45.97, Z:0.42 [[ 7.33078025e-01 -6.80136955e-01 -3.21419468e-03 1.29671816e+02] [ 6.80131056e-01 7.33085064e-01 -2.83477513e-03 4.59742023e+01] [ 4.28431344e-03 -1.07962268e-04 9.99990816e-01 4.15062129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.358623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.69, Y:45.99, Z:0.41 [[ 7.33517160e-01 -6.79663335e-01 -3.21365132e-03 1.29694202e+02] [ 6.79657429e-01 7.33524192e-01 -2.83539098e-03 4.59902245e+01] [ 4.28440227e-03 -1.04374057e-04 9.99990816e-01 4.07749603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.388623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.72, Y:46.01, Z:0.41 [[ 7.34133102e-01 -6.78997985e-01 -3.21307673e-03 1.29716821e+02] [ 6.78992070e-01 7.34140127e-01 -2.83604196e-03 4.60072478e+01] [ 4.28451533e-03 -9.96213364e-05 9.99990816e-01 4.08386382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.418623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.74, Y:46.02, Z:0.41 [[ 7.35774343e-01 -6.77219164e-01 -3.21254653e-03 1.29740329e+02] [ 6.77213229e-01 7.35781351e-01 -2.83664241e-03 4.60214208e+01] [ 4.28476043e-03 -8.84503049e-05 9.99990816e-01 4.08394963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.76, Y:46.04, Z:0.41 [[ 7.36718138e-01 -6.76192330e-01 -3.21215856e-03 1.29762382e+02] [ 6.76186383e-01 7.36725137e-01 -2.83708168e-03 4.60384448e+01] [ 4.28489082e-03 -8.18883425e-05 9.99990816e-01 4.08333012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.78, Y:46.06, Z:0.41 [[ 7.37785890e-01 -6.75027160e-01 -3.21163006e-03 1.29784595e+02] [ 6.75021199e-01 7.37792876e-01 -2.83767982e-03 4.60558863e+01] [ 4.28502873e-03 -7.43182389e-05 9.99990816e-01 4.09113202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.81, Y:46.07, Z:0.41 [[ 7.39114037e-01 -6.73572661e-01 -3.21107614e-03 1.29806372e+02] [ 6.73566684e-01 7.39121010e-01 -2.83830649e-03 4.60735317e+01] [ 4.28517949e-03 -6.50417324e-05 9.99990816e-01 4.09377909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.83, Y:46.09, Z:0.41 [[ 7.40289927e-01 -6.72280087e-01 -3.21052518e-03 1.29827504e+02] [ 6.72274096e-01 7.40296887e-01 -2.83892957e-03 4.60907253e+01] [ 4.28529761e-03 -5.67219416e-05 9.99990816e-01 4.09892425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:129.85, Y:46.11, Z:0.41 [[ 7.41527563e-01 -6.70914726e-01 -3.20994415e-03 1.29848889e+02] [ 6.70908719e-01 7.41534509e-01 -2.83958638e-03 4.61077105e+01] [ 4.28540468e-03 -4.79479446e-05 9.99990816e-01 4.10819073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.87, Y:46.12, Z:0.41 [[ 7.43549252e-01 -6.68673471e-01 -3.20936468e-03 1.29871724e+02] [ 6.68667439e-01 7.43556177e-01 -2.84024115e-03 4.61231872e+01] [ 4.28553685e-03 -3.41384800e-05 9.99990816e-01 4.11172604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.89, Y:46.14, Z:0.41 [[ 7.44212603e-01 -6.67935105e-01 -3.20879266e-03 1.29892269e+02] [ 6.67929064e-01 7.44219520e-01 -2.84088726e-03 4.61391508e+01] [ 4.28557446e-03 -2.90217705e-05 9.99990816e-01 4.11536948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.91, Y:46.16, Z:0.41 [[ 7.44886023e-01 -6.67184023e-01 -3.20818785e-03 1.29914470e+02] [ 6.67177972e-01 7.44892931e-01 -2.84157010e-03 4.61569157e+01] [ 4.28560662e-03 -2.37864109e-05 9.99990816e-01 4.12476615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:46.17, Z:0.41 [[ 7.46354338e-01 -6.65541068e-01 -3.20765472e-03 1.29936607e+02] [ 6.65534999e-01 7.46361231e-01 -2.84217179e-03 4.61731146e+01] [ 4.28565117e-03 -1.35392358e-05 9.99990816e-01 4.12473182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.96, Y:46.19, Z:0.41 [[ 7.47106324e-01 -6.64696814e-01 -3.20709207e-03 1.29958200e+02] [ 6.64690735e-01 7.47113208e-01 -2.84280653e-03 4.61906903e+01] [ 4.28566529e-03 -7.84564987e-06 9.99990816e-01 4.13327151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:129.98, Y:46.21, Z:0.41 [[ 7.47884548e-01 -6.63821076e-01 -3.20655438e-03 1.29979469e+02] [ 6.63814987e-01 7.47891422e-01 -2.84341290e-03 4.62081973e+01] [ 4.28567192e-03 -2.01428169e-06 9.99990816e-01 4.13376231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.00, Y:46.23, Z:0.41 [[ 7.48745749e-01 -6.62849549e-01 -3.20601247e-03 1.30000611e+02] [ 6.62843448e-01 7.48752613e-01 -2.84402378e-03 4.62261172e+01] [ 4.28567009e-03 4.36635325e-06 9.99990816e-01 4.13797145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.02, Y:46.24, Z:0.41 [[ 7.50692938e-01 -6.60643503e-01 -3.20547228e-03 1.30021912e+02] [ 6.60637379e-01 7.50699781e-01 -2.84463249e-03 4.62433148e+01] [ 4.28563531e-03 1.77907128e-05 9.99990816e-01 4.12908463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.838623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:130.04, Y:46.26, Z:0.41 [[ 7.51642934e-01 -6.59562453e-01 -3.20489905e-03 1.30043036e+02] [ 6.59556316e-01 7.51649766e-01 -2.84527817e-03 4.62614193e+01] [ 4.28560027e-03 2.48218231e-05 9.99990816e-01 4.12605786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.06, Y:46.28, Z:0.41 [[ 7.52302267e-01 -6.58810315e-01 -3.20437408e-03 1.30064217e+02] [ 6.58804169e-01 7.52309091e-01 -2.84586928e-03 4.62803146e+01] [ 4.28556779e-03 2.98989145e-05 9.99990816e-01 4.11920127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:46.30, Z:0.41 [[ 7.52896758e-01 -6.58130843e-01 -3.20384646e-03 1.30084112e+02] [ 6.58124689e-01 7.52903574e-01 -2.84646314e-03 4.62984738e+01] [ 4.28553264e-03 3.45624226e-05 9.99990816e-01 4.11006422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.10, Y:46.32, Z:0.41 [[ 7.53819300e-01 -6.57073970e-01 -3.20328664e-03 1.30104514e+02] [ 6.57067803e-01 7.53826105e-01 -2.84709300e-03 4.63170453e+01] [ 4.28547179e-03 4.14171348e-05 9.99990816e-01 4.11177084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.12, Y:46.34, Z:0.41 [[ 7.54030639e-01 -6.56831438e-01 -3.20275016e-03 1.30124859e+02] [ 6.56825266e-01 7.54037440e-01 -2.84769637e-03 4.63354304e+01] [ 4.28545003e-03 4.36030852e-05 9.99990816e-01 4.10968169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.15, Y:46.35, Z:0.41 [[ 7.54118972e-01 -6.56730022e-01 -3.20235965e-03 1.30145437e+02] [ 6.56723847e-01 7.54125770e-01 -2.84813544e-03 4.63540847e+01] [ 4.28543799e-03 4.47670201e-05 9.99990816e-01 4.11458188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.17, Y:46.37, Z:0.41 [[ 7.53995014e-01 -6.56872337e-01 -3.20182298e-03 1.30166625e+02] [ 6.56866161e-01 7.54001811e-01 -2.84873864e-03 4.63731774e+01] [ 4.28543793e-03 4.47655642e-05 9.99990816e-01 4.11580255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.19, Y:46.39, Z:0.41 [[ 7.54014507e-01 -6.56849964e-01 -3.20128522e-03 1.30186618e+02] [ 6.56843785e-01 7.54021302e-01 -2.84934282e-03 4.63909204e+01] [ 4.28542797e-03 4.57015209e-05 9.99990816e-01 4.11253232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.078623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.21, Y:46.41, Z:0.41 [[ 7.53962231e-01 -6.56909971e-01 -3.20071680e-03 1.30206566e+02] [ 6.56903791e-01 7.53969023e-01 -2.84998119e-03 4.64095208e+01] [ 4.28542238e-03 4.62151805e-05 9.99990816e-01 4.10981943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.23, Y:46.43, Z:0.41 [[ 7.53493483e-01 -6.57447588e-01 -3.20016917e-03 1.30227751e+02] [ 6.57441409e-01 7.53500277e-01 -2.85059597e-03 4.64282426e+01] [ 4.28544580e-03 4.39817555e-05 9.99990816e-01 4.11479437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.138623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:130.25, Y:46.45, Z:0.41 [[ 7.52927808e-01 -6.58095341e-01 -3.19963738e-03 1.30248846e+02] [ 6.58089166e-01 7.52934605e-01 -2.85119275e-03 4.64467005e+01] [ 4.28547438e-03 4.10956103e-05 9.99990816e-01 4.11964861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.168623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:130.27, Y:46.46, Z:0.41 [[ 7.52325551e-01 -6.58783752e-01 -3.19909418e-03 1.30269614e+02] [ 6.58777580e-01 7.52332352e-01 -2.85180211e-03 4.64644086e+01] [ 4.28550294e-03 3.79920745e-05 9.99990816e-01 4.11257872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:130.29, Y:46.48, Z:0.42 [[ 7.51792297e-01 -6.59392229e-01 -3.19851836e-03 1.30290073e+02] [ 6.59386060e-01 7.51799100e-01 -2.85244779e-03 4.64830990e+01] [ 4.28552513e-03 3.53898575e-05 9.99990816e-01 4.18957719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.31, Y:46.50, Z:0.41 [[ 7.50690372e-01 -6.60646455e-01 -3.19799645e-03 1.30310094e+02] [ 6.60640295e-01 7.50697183e-01 -2.85303280e-03 4.65021797e+01] [ 4.28557293e-03 2.90189386e-05 9.99990816e-01 4.14352621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.33, Y:46.52, Z:0.42 [[ 7.50228082e-01 -6.61171386e-01 -3.19747281e-03 1.30330285e+02] [ 6.61165228e-01 7.50234895e-01 -2.85361954e-03 4.65217001e+01] [ 4.28558726e-03 2.68076709e-05 9.99990816e-01 4.15387269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.35, Y:46.54, Z:0.42 [[ 7.50079603e-01 -6.61339829e-01 -3.19692001e-03 1.30349379e+02] [ 6.61333670e-01 7.50086415e-01 -2.85423871e-03 4.65401306e+01] [ 4.28558801e-03 2.66754023e-05 9.99990816e-01 4.15428775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:130.37, Y:46.56, Z:0.42 [[ 7.50150543e-01 -6.61259363e-01 -3.19656624e-03 1.30369827e+02] [ 6.61253202e-01 7.50157353e-01 -2.85463486e-03 4.65597921e+01] [ 4.28558169e-03 2.76662258e-05 9.99990816e-01 4.15456243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:46.58, Z:0.41 [[ 7.50648509e-01 -6.60694030e-01 -3.19602039e-03 1.30388645e+02] [ 6.60687861e-01 7.50655312e-01 -2.85524585e-03 4.65791258e+01] [ 4.28555357e-03 3.17141681e-05 9.99990816e-01 4.14343649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.41, Y:46.60, Z:0.41 [[ 7.50706588e-01 -6.60628041e-01 -3.19544355e-03 1.30408404e+02] [ 6.60621869e-01 7.50713388e-01 -2.85589127e-03 4.65985389e+01] [ 4.28554411e-03 3.29565048e-05 9.99990816e-01 4.14856605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.43, Y:46.62, Z:0.41 [[ 7.51008298e-01 -6.60285036e-01 -3.19490852e-03 1.30427985e+02] [ 6.60278858e-01 7.51015093e-01 -2.85648969e-03 4.66180597e+01] [ 4.28552192e-03 3.57169179e-05 9.99990816e-01 4.14310867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.45, Y:46.64, Z:0.41 [[ 7.51220485e-01 -6.60043618e-01 -3.19437097e-03 1.30446845e+02] [ 6.60037436e-01 7.51227276e-01 -2.85709070e-03 4.66374710e+01] [ 4.28550309e-03 3.79006407e-05 9.99990816e-01 4.12350204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:130.47, Y:46.66, Z:0.41 [[ 7.51410989e-01 -6.59826737e-01 -3.19397750e-03 1.30465944e+02] [ 6.59820551e-01 7.51417777e-01 -2.85753049e-03 4.66574496e+01] [ 4.28548650e-03 3.97278195e-05 9.99990816e-01 4.14559427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.498623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.48, Y:46.68, Z:0.41 [[ 7.51773557e-01 -6.59413620e-01 -3.19344129e-03 1.30484340e+02] [ 6.59407427e-01 7.51780338e-01 -2.85812961e-03 4.66791288e+01] [ 4.28545597e-03 4.28873583e-05 9.99990816e-01 4.13464121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.50, Y:46.70, Z:0.41 [[ 7.51537212e-01 -6.59682972e-01 -3.19290792e-03 1.30502936e+02] [ 6.59676779e-01 7.51543994e-01 -2.85872533e-03 4.66981515e+01] [ 4.28546320e-03 4.21512506e-05 9.99990816e-01 4.12394662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.558623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:130.52, Y:46.72, Z:0.41 [[ 7.51114298e-01 -6.60164463e-01 -3.19251663e-03 1.30522398e+02] [ 6.60158273e-01 7.51121082e-01 -2.85916224e-03 4.67176822e+01] [ 4.28548386e-03 3.99913736e-05 9.99990816e-01 4.12175970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.54, Y:46.74, Z:0.41 [[ 7.50453544e-01 -6.60915494e-01 -3.19198514e-03 1.30542542e+02] [ 6.60909308e-01 7.50460331e-01 -2.85975548e-03 4.67377328e+01] [ 4.28551493e-03 3.65009426e-05 9.99990816e-01 4.12434930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.56, Y:46.76, Z:0.41 [[ 7.48596340e-01 -6.63018351e-01 -3.19143672e-03 1.30561246e+02] [ 6.63012181e-01 7.48603143e-01 -2.86036738e-03 4.67576473e+01] [ 4.28559562e-03 2.52991303e-05 9.99990816e-01 4.12681538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.58, Y:46.78, Z:0.41 [[ 7.47443026e-01 -6.64318252e-01 -3.19103470e-03 1.30581409e+02] [ 6.64312092e-01 7.47449838e-01 -2.86081580e-03 4.67777245e+01] [ 4.28563052e-03 1.84538854e-05 9.99990816e-01 4.14051966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.60, Y:46.80, Z:0.41 [[ 7.46166681e-01 -6.65751534e-01 -3.19049047e-03 1.30600587e+02] [ 6.65745385e-01 7.46173502e-01 -2.86142262e-03 4.67968936e+01] [ 4.28565595e-03 1.10439183e-05 9.99990816e-01 4.13124761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.62, Y:46.82, Z:0.41 [[ 7.43685790e-01 -6.68521705e-01 -3.18991625e-03 1.30619332e+02] [ 6.68515579e-01 7.43692631e-01 -2.86206261e-03 4.68174007e+01] [ 4.28566819e-03 -4.03341578e-06 9.99990816e-01 4.12976629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.738623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.64, Y:46.84, Z:0.41 [[ 7.42294969e-01 -6.70065674e-01 -3.18939067e-03 1.30639229e+02] [ 6.70059559e-01 7.42301820e-01 -2.86264819e-03 4.68363826e+01] [ 4.28565279e-03 -1.21523566e-05 9.99990816e-01 4.12517202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.66, Y:46.86, Z:0.41 [[ 7.40671221e-01 -6.71860086e-01 -3.18883281e-03 1.30659776e+02] [ 6.71853985e-01 7.40678085e-01 -2.86326948e-03 4.68555537e+01] [ 4.28561505e-03 -2.16887330e-05 9.99990816e-01 4.13520673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:46.87, Z:0.41 [[ 7.39081901e-01 -6.73608031e-01 -3.18829840e-03 1.30679763e+02] [ 6.73601943e-01 7.39088777e-01 -2.86386443e-03 4.68734982e+01] [ 4.28555764e-03 -3.10136285e-05 9.99990816e-01 4.12631505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.828623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.70, Y:46.89, Z:0.41 [[ 7.35918842e-01 -6.77062255e-01 -3.18773297e-03 1.30700996e+02] [ 6.77056197e-01 7.35925744e-01 -2.86449366e-03 4.68914731e+01] [ 4.28537530e-03 -5.02395029e-05 9.99990816e-01 4.14190655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.858623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.72, Y:46.91, Z:0.41 [[ 7.34331928e-01 -6.78783074e-01 -3.18717782e-03 1.30721401e+02] [ 6.78777030e-01 7.34338842e-01 -2.86511122e-03 4.69094683e+01] [ 4.28525747e-03 -5.94404465e-05 9.99990816e-01 4.14515829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.888623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.74, Y:46.93, Z:0.41 [[ 7.32864886e-01 -6.80366742e-01 -3.18658927e-03 1.30741852e+02] [ 6.80360710e-01 7.32871811e-01 -2.86576566e-03 4.69271914e+01] [ 4.28513309e-03 -6.78111143e-05 9.99990816e-01 4.14069640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:46.94, Z:0.41 [[ 7.31517400e-01 -6.81815329e-01 -3.18600543e-03 1.30762318e+02] [ 6.81809307e-01 7.31524335e-01 -2.86641459e-03 4.69449367e+01] [ 4.28500591e-03 -7.54160112e-05 9.99990816e-01 4.13773100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.78, Y:46.96, Z:0.41 [[ 7.29296590e-01 -6.84190278e-01 -3.18542393e-03 1.30784967e+02] [ 6.84184277e-01 7.29303541e-01 -2.86706067e-03 4.69621287e+01] [ 4.28475599e-03 -8.84793975e-05 9.99990816e-01 4.13827323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:130.81, Y:46.98, Z:0.41 [[ 7.28435636e-01 -6.85106838e-01 -3.18487116e-03 1.30806068e+02] [ 6.85100843e-01 7.28442593e-01 -2.86767457e-03 4.69795349e+01] [ 4.28465927e-03 -9.30415629e-05 9.99990816e-01 4.13654710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.83, Y:47.00, Z:0.41 [[ 7.27697534e-01 -6.85890778e-01 -3.18428620e-03 1.30827061e+02] [ 6.85884787e-01 7.27704495e-01 -2.86832397e-03 4.69973046e+01] [ 4.28457634e-03 -9.67811761e-05 9.99990816e-01 4.13846112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.85, Y:47.01, Z:0.41 [[ 7.27255334e-01 -6.86359631e-01 -3.18370819e-03 1.30847118e+02] [ 6.86353642e-01 7.27262296e-01 -2.86896539e-03 4.70139085e+01] [ 4.28453296e-03 -9.86793287e-05 9.99990816e-01 4.14192235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.87, Y:47.03, Z:0.42 [[ 7.27008012e-01 -6.86621598e-01 -3.18306964e-03 1.30868982e+02] [ 6.86615609e-01 7.27014973e-01 -2.86967368e-03 4.70319896e+01] [ 4.28451922e-03 -9.92695464e-05 9.99990816e-01 4.15045858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.89, Y:47.05, Z:0.41 [[ 7.27074341e-01 -6.86551364e-01 -3.18251236e-03 1.30890195e+02] [ 6.86545371e-01 7.27081299e-01 -2.87029158e-03 4.70495426e+01] [ 4.28454782e-03 -9.80237748e-05 9.99990816e-01 4.14856564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:47.07, Z:0.41 [[ 7.28089715e-01 -6.85474466e-01 -3.18192308e-03 1.30912239e+02] [ 6.85468459e-01 7.28096662e-01 -2.87094468e-03 4.70665117e+01] [ 4.28470685e-03 -9.08026191e-05 9.99990816e-01 4.14691590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:47.08, Z:0.41 [[ 7.28934292e-01 -6.84576275e-01 -3.18137702e-03 1.30933153e+02] [ 6.84570258e-01 7.28941230e-01 -2.87154967e-03 4.70835524e+01] [ 4.28483165e-03 -8.47050592e-05 9.99990816e-01 4.14218338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.96, Y:47.10, Z:0.41 [[ 7.31542857e-01 -6.81788040e-01 -3.18079993e-03 1.30955938e+02] [ 6.81781993e-01 7.31549769e-01 -2.87218876e-03 4.70997560e+01] [ 4.28513740e-03 -6.74829428e-05 9.99990816e-01 4.14441312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.98, Y:47.12, Z:0.41 [[ 7.33066805e-01 -6.80149208e-01 -3.18026075e-03 1.30977604e+02] [ 6.80143143e-01 7.33073701e-01 -2.87278565e-03 4.71179988e+01] [ 4.28528840e-03 -5.70887483e-05 9.99990816e-01 4.14673557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.00, Y:47.14, Z:0.42 [[ 7.34782870e-01 -6.78294939e-01 -3.17971770e-03 1.30997768e+02] [ 6.78288854e-01 7.34789748e-01 -2.87338660e-03 4.71353563e+01] [ 4.28542755e-03 -4.54518228e-05 9.99990816e-01 4.15259781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.278623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.02, Y:47.15, Z:0.42 [[ 7.36816481e-01 -6.76085324e-01 -3.17914490e-03 1.31019144e+02] [ 6.76079216e-01 7.36823339e-01 -2.87402021e-03 4.71541081e+01] [ 4.28555105e-03 -3.17283328e-05 9.99990816e-01 4.16687812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.04, Y:47.17, Z:0.42 [[ 7.41225233e-01 -6.71248874e-01 -3.17861394e-03 1.31039248e+02] [ 6.71242719e-01 7.41232048e-01 -2.87460732e-03 4.71724446e+01] [ 4.28566745e-03 -2.88998884e-06 9.99990816e-01 4.18072029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.06, Y:47.19, Z:0.42 [[ 7.43297278e-01 -6.68953703e-01 -3.17805238e-03 1.31058832e+02] [ 6.68947524e-01 7.43304072e-01 -2.87522803e-03 4.71908229e+01] [ 4.28565371e-03 1.11988990e-05 9.99990816e-01 4.17930585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.08, Y:47.21, Z:0.42 [[ 7.45280660e-01 -6.66743310e-01 -3.17749721e-03 1.31079731e+02] [ 6.66737108e-01 7.45287433e-01 -2.87584143e-03 4.72100748e+01] [ 4.28559677e-03 2.47536998e-05 9.99990816e-01 4.17653384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.10, Y:47.23, Z:0.42 [[ 7.47051405e-01 -6.64758682e-01 -3.17697864e-03 1.31100424e+02] [ 6.64752460e-01 7.47058159e-01 -2.87641418e-03 4.72287100e+01] [ 4.28550912e-03 3.69248889e-05 9.99990816e-01 4.18102809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.12, Y:47.25, Z:0.42 [[ 7.48666087e-01 -6.62939666e-01 -3.17645989e-03 1.31120474e+02] [ 6.62933425e-01 7.48672824e-01 -2.87698693e-03 4.72467009e+01] [ 4.28539795e-03 4.81211137e-05 9.99990816e-01 4.17900775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:47.27, Z:0.42 [[ 7.51356620e-01 -6.59888735e-01 -3.17591152e-03 1.31141237e+02] [ 6.59882464e-01 7.51363330e-01 -2.87759215e-03 4.72659529e+01] [ 4.28515410e-03 6.63695942e-05 9.99990816e-01 4.17647037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.16, Y:47.29, Z:0.42 [[ 7.52516064e-01 -6.58566239e-01 -3.17539655e-03 1.31161417e+02] [ 6.58559954e-01 7.52522760e-01 -2.87816031e-03 4.72854045e+01] [ 4.28501738e-03 7.46728618e-05 9.99990816e-01 4.18107272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.518623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.18, Y:47.30, Z:0.42 [[ 7.53328254e-01 -6.57637029e-01 -3.17485037e-03 1.31180822e+02] [ 6.57630734e-01 7.53334939e-01 -2.87876266e-03 4.73048109e+01] [ 4.28490664e-03 8.07740640e-05 9.99990816e-01 4.16340941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.548623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.20, Y:47.32, Z:0.42 [[ 7.54103644e-01 -6.56747758e-01 -3.17427424e-03 1.31199974e+02] [ 6.56741452e-01 7.54110320e-01 -2.87939779e-03 4.73239962e+01] [ 4.28479101e-03 8.66868916e-05 9.99990816e-01 4.15569777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.578623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:131.22, Y:47.34, Z:0.42 [[ 7.54860979e-01 -6.55877146e-01 -3.17373801e-03 1.31219575e+02] [ 6.55870829e-01 7.54867645e-01 -2.87998871e-03 4.73441494e+01] [ 4.28467092e-03 9.24289170e-05 9.99990816e-01 4.21221097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.24, Y:47.36, Z:0.41 [[ 7.55689051e-01 -6.54922888e-01 -3.17323026e-03 1.31237560e+02] [ 6.54916561e-01 7.55695707e-01 -2.88054806e-03 4.73644809e+01] [ 4.28453334e-03 9.85975767e-05 9.99990816e-01 4.14791016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:47.38, Z:0.42 [[ 7.55983760e-01 -6.54582683e-01 -3.17269426e-03 1.31256824e+02] [ 6.54576350e-01 7.55990411e-01 -2.88113829e-03 4.73843809e+01] [ 4.28446967e-03 1.01323127e-04 9.99990816e-01 4.15181753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:47.40, Z:0.42 [[ 7.56084655e-01 -6.54466143e-01 -3.17219701e-03 1.31275122e+02] [ 6.54459807e-01 7.56091302e-01 -2.88168568e-03 4.74036711e+01] [ 4.28443628e-03 1.02722881e-04 9.99990816e-01 4.16036293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.29, Y:47.42, Z:0.42 [[ 7.55895253e-01 -6.54684891e-01 -3.17179398e-03 1.31294648e+02] [ 6.54678555e-01 7.55901901e-01 -2.88212922e-03 4.74243042e+01] [ 4.28445155e-03 1.02082297e-04 9.99990816e-01 4.17875182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.31, Y:47.45, Z:0.42 [[ 7.55221253e-01 -6.55462281e-01 -3.17126563e-03 1.31311296e+02] [ 6.55455949e-01 7.55227905e-01 -2.88271044e-03 4.74455182e+01] [ 4.28453626e-03 9.84592678e-05 9.99990816e-01 4.15504724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:47.47, Z:0.42 [[ 7.54568805e-01 -6.56213277e-01 -3.17070602e-03 1.31329412e+02] [ 6.56206949e-01 7.54575461e-01 -2.88332584e-03 4.74652962e+01] [ 4.28461365e-03 9.50284134e-05 9.99990816e-01 4.15398817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:47.49, Z:0.42 [[ 7.53694158e-01 -6.57217670e-01 -3.17015408e-03 1.31348604e+02] [ 6.57211349e-01 7.53700820e-01 -2.88393256e-03 4.74857078e+01] [ 4.28471916e-03 9.01418844e-05 9.99990816e-01 4.16409328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.37, Y:47.51, Z:0.42 [[ 7.51442752e-01 -6.59790681e-01 -3.16963567e-03 1.31365873e+02] [ 6.59784380e-01 7.51449433e-01 -2.88450220e-03 4.75066381e+01] [ 4.28498861e-03 7.62621676e-05 9.99990816e-01 4.15865033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.38, Y:47.53, Z:0.42 [[ 7.50222640e-01 -6.61177698e-01 -3.16908569e-03 1.31384809e+02] [ 6.61171406e-01 7.50229330e-01 -2.88510632e-03 4.75267523e+01] [ 4.28510899e-03 6.91632344e-05 9.99990816e-01 4.17619039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.40, Y:47.55, Z:0.42 [[ 7.49046678e-01 -6.62509648e-01 -3.16857026e-03 1.31403152e+02] [ 6.62503367e-01 7.49053377e-01 -2.88567229e-03 4.75468664e+01] [ 4.28521398e-03 6.23147787e-05 9.99990816e-01 4.17453485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:47.57, Z:0.42 [[ 7.46488233e-01 -6.65391074e-01 -3.16819262e-03 1.31418957e+02] [ 6.65384816e-01 7.46494954e-01 -2.88608683e-03 4.75676958e+01] [ 4.28541622e-03 4.63625894e-05 9.99990816e-01 4.16698623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.44, Y:47.59, Z:0.42 [[ 7.46364494e-01 -6.65529871e-01 -3.16761813e-03 1.31439239e+02] [ 6.65523612e-01 7.46371214e-01 -2.88671723e-03 4.75865322e+01] [ 4.28541553e-03 4.64185796e-05 9.99990816e-01 4.16817103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:47.61, Z:0.42 [[ 7.44917301e-01 -6.67149297e-01 -3.16708125e-03 1.31457375e+02] [ 6.67143050e-01 7.44924032e-01 -2.88730613e-03 4.76064898e+01] [ 4.28549919e-03 3.79080476e-05 9.99990816e-01 4.17784508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.48, Y:47.63, Z:0.42 [[ 7.43395332e-01 -6.68844790e-01 -3.16652918e-03 1.31476500e+02] [ 6.68838556e-01 7.43402075e-01 -2.88791146e-03 4.76272733e+01] [ 4.28556890e-03 2.89630984e-05 9.99990816e-01 4.19168543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:47.65, Z:0.42 [[ 7.41779766e-01 -6.70636083e-01 -3.16599540e-03 1.31494619e+02] [ 6.70629862e-01 7.41786522e-01 -2.88849652e-03 4.76471778e+01] [ 4.28562271e-03 1.94172179e-05 9.99990816e-01 4.17810561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.058623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.51, Y:47.67, Z:0.42 [[ 7.40302741e-01 -6.72266192e-01 -3.16543102e-03 1.31513574e+02] [ 6.72259984e-01 7.40309508e-01 -2.88911488e-03 4.76673308e+01] [ 4.28565294e-03 1.08270523e-05 9.99990816e-01 4.18532055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:47.69, Z:0.42 [[ 7.37419066e-01 -6.75428090e-01 -3.16490333e-03 1.31531921e+02] [ 6.75421909e-01 7.37425857e-01 -2.88969282e-03 4.76888982e+01] [ 4.28566126e-03 -6.73046872e-06 9.99990816e-01 4.17450263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.55, Y:47.71, Z:0.42 [[ 7.35961405e-01 -6.77016099e-01 -3.16437360e-03 1.31550599e+02] [ 6.77009929e-01 7.35968207e-01 -2.89027279e-03 4.77085474e+01] [ 4.28563958e-03 -1.51831268e-05 9.99990816e-01 4.16238577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:47.73, Z:0.42 [[ 7.34317847e-01 -6.78798416e-01 -3.16381447e-03 1.31569925e+02] [ 6.78792261e-01 7.34324662e-01 -2.89088471e-03 4.77282980e+01] [ 4.28559496e-03 -2.47445399e-05 9.99990816e-01 4.17066955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.178623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.59, Y:47.75, Z:0.42 [[ 7.32729799e-01 -6.80512333e-01 -3.16326529e-03 1.31589203e+02] [ 6.80506191e-01 7.32736626e-01 -2.89148551e-03 4.77477863e+01] [ 4.28553189e-03 -3.39440210e-05 9.99990816e-01 4.16497552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:47.77, Z:0.42 [[ 7.29578876e-01 -6.83889362e-01 -3.16286143e-03 1.31608005e+02] [ 6.83883250e-01 7.29585730e-01 -2.89192721e-03 4.77690265e+01] [ 4.28533682e-03 -5.31389491e-05 9.99990816e-01 4.16942673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.63, Y:47.79, Z:0.42 [[ 7.27852610e-01 -6.85726314e-01 -3.16230804e-03 1.31626775e+02] [ 6.85720216e-01 7.27859477e-01 -2.89253221e-03 4.77882349e+01] [ 4.28520133e-03 -6.31214320e-05 9.99990816e-01 4.16556741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.268623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.65, Y:47.81, Z:0.42 [[ 7.26260242e-01 -6.87412587e-01 -3.16172016e-03 1.31646770e+02] [ 6.87406502e-01 7.26267120e-01 -2.89317465e-03 4.78076274e+01] [ 4.28505807e-03 -7.21892763e-05 9.99990816e-01 4.17123010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.298623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:131.67, Y:47.83, Z:0.42 [[ 7.24754568e-01 -6.88999872e-01 -3.16118083e-03 1.31666700e+02] [ 6.88993800e-01 7.24761457e-01 -2.89376383e-03 4.78262922e+01] [ 4.28490493e-03 -8.07654353e-05 9.99990816e-01 4.17456527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.69, Y:47.84, Z:0.42 [[ 7.22258201e-01 -6.91616297e-01 -3.16061041e-03 1.31686288e+02] [ 6.91610247e-01 7.22265110e-01 -2.89438671e-03 4.78447949e+01] [ 4.28460365e-03 -9.54160131e-05 9.99990816e-01 4.18237126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:47.86, Z:0.42 [[ 7.21273834e-01 -6.92642816e-01 -3.16002945e-03 1.31705644e+02] [ 6.92636773e-01 7.21280750e-01 -2.89502085e-03 4.78626349e+01] [ 4.28448381e-03 -1.00649813e-04 9.99990816e-01 4.18186852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.388623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.73, Y:47.88, Z:0.42 [[ 7.20343643e-01 -6.93610160e-01 -3.15942053e-03 1.31725426e+02] [ 6.93604123e-01 7.20350564e-01 -2.89568524e-03 4.78806918e+01] [ 4.28436706e-03 -1.05498653e-04 9.99990816e-01 4.18542800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.75, Y:47.90, Z:0.42 [[ 7.19596812e-01 -6.94384943e-01 -3.15882081e-03 1.31745605e+02] [ 6.94378912e-01 7.19603737e-01 -2.89633930e-03 4.78994019e+01] [ 4.28427366e-03 -1.09222030e-04 9.99990816e-01 4.18469946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:131.77, Y:47.92, Z:0.42 [[ 7.19150161e-01 -6.94847517e-01 -3.15822233e-03 1.31765087e+02] [ 6.94841487e-01 7.19157087e-01 -2.89699175e-03 4.79180865e+01] [ 4.28422550e-03 -1.11091820e-04 9.99990816e-01 4.19370089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.78, Y:47.94, Z:0.42 [[ 7.19170757e-01 -6.94826202e-01 -3.15762747e-03 1.31784257e+02] [ 6.94820169e-01 7.19177681e-01 -2.89763998e-03 4.79361319e+01] [ 4.28425139e-03 -1.10085317e-04 9.99990816e-01 4.19779702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:47.96, Z:0.42 [[ 7.19145341e-01 -6.94852511e-01 -3.15700333e-03 1.31804794e+02] [ 6.94846475e-01 7.19152262e-01 -2.89831984e-03 4.79550220e+01] [ 4.28427090e-03 -1.09319426e-04 9.99990816e-01 4.20646843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:131.83, Y:47.97, Z:0.42 [[ 7.19354358e-01 -6.94636124e-01 -3.15644626e-03 1.31825555e+02] [ 6.94630083e-01 7.19361275e-01 -2.89892639e-03 4.79727246e+01] [ 4.28432420e-03 -1.07207200e-04 9.99990816e-01 4.20331028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:131.84, Y:47.99, Z:0.42 [[ 7.19376958e-01 -6.94612722e-01 -3.15585686e-03 1.31844848e+02] [ 6.94606678e-01 7.19383872e-01 -2.89956789e-03 4.79900461e+01] [ 4.28434927e-03 -1.06196922e-04 9.99990816e-01 4.20557067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.87, Y:48.01, Z:0.42 [[ 7.19640826e-01 -6.94339344e-01 -3.15540160e-03 1.31865539e+02] [ 6.94333296e-01 7.19647736e-01 -2.90006323e-03 4.80083365e+01] [ 4.28440562e-03 -1.03896496e-04 9.99990816e-01 4.20060845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:48.03, Z:0.42 [[ 7.19750641e-01 -6.94225513e-01 -3.15481841e-03 1.31884836e+02] [ 6.94219460e-01 7.19757547e-01 -2.90069751e-03 4.80257787e+01] [ 4.28444258e-03 -1.02357442e-04 9.99990816e-01 4.18926248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.91, Y:48.04, Z:0.42 [[ 7.20938897e-01 -6.92991456e-01 -3.15420372e-03 1.31905267e+02] [ 6.92985388e-01 7.20945791e-01 -2.90136577e-03 4.80434802e+01] [ 4.28463158e-03 -9.41096507e-05 9.99990816e-01 4.18973968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.93, Y:48.06, Z:0.42 [[ 7.21713332e-01 -6.92184889e-01 -3.15362987e-03 1.31925191e+02] [ 6.92178811e-01 7.21720217e-01 -2.90198938e-03 4.80619269e+01] [ 4.28475163e-03 -8.84713459e-05 9.99990816e-01 4.19883830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.94, Y:48.08, Z:0.42 [[ 7.22550127e-01 -6.91311342e-01 -3.15305289e-03 1.31944651e+02] [ 6.91305254e-01 7.22557002e-01 -2.90261614e-03 4.80800427e+01] [ 4.28487190e-03 -8.24363706e-05 9.99990816e-01 4.20047734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.96, Y:48.10, Z:0.42 [[ 7.23522370e-01 -6.90293736e-01 -3.15244850e-03 1.31964623e+02] [ 6.90287635e-01 7.23529234e-01 -2.90327240e-03 4.80982990e+01] [ 4.28499940e-03 -7.55136965e-05 9.99990816e-01 4.19942677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:48.12, Z:0.42 [[ 7.24450951e-01 -6.89319146e-01 -3.15188028e-03 1.31983845e+02] [ 6.89313033e-01 7.24457804e-01 -2.90388914e-03 4.81160277e+01] [ 4.28511065e-03 -6.89069073e-05 9.99990816e-01 4.19320515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:48.13, Z:0.42 [[ 7.25324028e-01 -6.88400410e-01 -3.15128303e-03 1.32003745e+02] [ 6.88394285e-01 7.25330871e-01 -2.90453713e-03 4.81344791e+01] [ 4.28520742e-03 -6.25946542e-05 9.99990816e-01 4.18900924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.02, Y:48.15, Z:0.42 [[ 7.26906658e-01 -6.86729047e-01 -3.15071701e-03 1.32024277e+02] [ 6.86722904e-01 7.26913484e-01 -2.90515100e-03 4.81532792e+01] [ 4.28535026e-03 -5.18959326e-05 9.99990816e-01 4.21535620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.04, Y:48.17, Z:0.42 [[ 7.27495084e-01 -6.86105662e-01 -3.15016353e-03 1.32044634e+02] [ 6.86099510e-01 7.27501903e-01 -2.90575104e-03 4.81714431e+01] [ 4.28540220e-03 -4.74060592e-05 9.99990816e-01 4.22495068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.898623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.06, Y:48.19, Z:0.42 [[ 7.27945547e-01 -6.85627713e-01 -3.14958042e-03 1.32064965e+02] [ 6.85621555e-01 7.27952359e-01 -2.90638293e-03 4.81899786e+01] [ 4.28544118e-03 -4.37317122e-05 9.99990816e-01 4.23075582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:132.08, Y:48.21, Z:0.42 [[ 7.28293487e-01 -6.85258112e-01 -3.14897217e-03 1.32084216e+02] [ 6.85251947e-01 7.28300294e-01 -2.90704181e-03 4.82082304e+01] [ 4.28547134e-03 -4.06596928e-05 9.99990816e-01 4.23135839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.10, Y:48.23, Z:0.42 [[ 7.29112422e-01 -6.84386706e-01 -3.14836832e-03 1.32104594e+02] [ 6.84380530e-01 7.29119219e-01 -2.90769564e-03 4.82273701e+01] [ 4.28552409e-03 -3.46449663e-05 9.99990816e-01 4.22391461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:132.12, Y:48.25, Z:0.43 [[ 7.29453509e-01 -6.84023150e-01 -3.14784230e-03 1.32123940e+02] [ 6.84016968e-01 7.29460300e-01 -2.90826499e-03 4.82462294e+01] [ 4.28554657e-03 -3.17334468e-05 9.99990817e-01 4.27709129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.018623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.14, Y:48.27, Z:0.42 [[ 7.29552160e-01 -6.83917934e-01 -3.14724587e-03 1.32144892e+02] [ 6.83911749e-01 7.29558948e-01 -2.90891029e-03 4.82650065e+01] [ 4.28555730e-03 -3.02366388e-05 9.99990817e-01 4.21494174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.048623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.17, Y:48.28, Z:0.42 [[ 7.29760646e-01 -6.83695472e-01 -3.14669824e-03 1.32165778e+02] [ 6.83689282e-01 7.29767429e-01 -2.90950257e-03 4.82840775e+01] [ 4.28557161e-03 -2.81233842e-05 9.99990817e-01 4.21016704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.19, Y:48.30, Z:0.42 [[ 7.29683322e-01 -6.83777999e-01 -3.14614342e-03 1.32186580e+02] [ 6.83771807e-01 7.29690104e-01 -2.91010239e-03 4.83027900e+01] [ 4.28557370e-03 -2.77909943e-05 9.99990817e-01 4.20752839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.21, Y:48.32, Z:0.42 [[ 7.29465114e-01 -6.84010784e-01 -3.14558890e-03 1.32207283e+02] [ 6.84004591e-01 7.29471896e-01 -2.91070165e-03 4.83214975e+01] [ 4.28557002e-03 -2.83419354e-05 9.99990817e-01 4.20932956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.23, Y:48.34, Z:0.42 [[ 7.29023585e-01 -6.84481352e-01 -3.14502711e-03 1.32227439e+02] [ 6.84475161e-01 7.29030368e-01 -2.91130854e-03 4.83397865e+01] [ 4.28555668e-03 -3.02803496e-05 9.99990817e-01 4.20261008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.168623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.25, Y:48.36, Z:0.42 [[ 7.28624596e-01 -6.84906060e-01 -3.14446736e-03 1.32248405e+02] [ 6.84899871e-01 7.28631380e-01 -2.91191299e-03 4.83590230e+01] [ 4.28554445e-03 -3.19538628e-05 9.99990817e-01 4.20695625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19862385300002 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:132.27, Y:48.38, Z:0.43 [[ 7.28061702e-01 -6.85504394e-01 -3.14391948e-03 1.32268348e+02] [ 6.85498207e-01 7.28068489e-01 -2.91250441e-03 4.83787112e+01] [ 4.28552327e-03 -3.46682477e-05 9.99990817e-01 4.28153510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.29, Y:48.40, Z:0.42 [[ 7.27399857e-01 -6.86206651e-01 -3.14337566e-03 1.32289235e+02] [ 6.86200469e-01 7.27406647e-01 -2.91309122e-03 4.83980623e+01] [ 4.28549492e-03 -3.80037160e-05 9.99990817e-01 4.20471981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:48.42, Z:0.42 [[ 7.27140254e-01 -6.86481736e-01 -3.14283076e-03 1.32309557e+02] [ 6.86475554e-01 7.27147045e-01 -2.91367897e-03 4.84171594e+01] [ 4.28548750e-03 -3.88232182e-05 9.99990817e-01 4.21367935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.33, Y:48.44, Z:0.42 [[ 7.26893495e-01 -6.86743018e-01 -3.14227707e-03 1.32329363e+02] [ 6.86736836e-01 7.26900286e-01 -2.91427598e-03 4.84353360e+01] [ 4.28548078e-03 -3.95491604e-05 9.99990817e-01 4.21755107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.35, Y:48.45, Z:0.42 [[ 7.27108898e-01 -6.86514952e-01 -3.14169278e-03 1.32348731e+02] [ 6.86508765e-01 7.27115685e-01 -2.91490573e-03 4.84535023e+01] [ 4.28550047e-03 -3.73457396e-05 9.99990817e-01 4.21573292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.37, Y:48.47, Z:0.42 [[ 7.27310531e-01 -6.86301337e-01 -3.14111233e-03 1.32368049e+02] [ 6.86295145e-01 7.27317313e-01 -2.91553109e-03 4.84726496e+01] [ 4.28551827e-03 -3.52336737e-05 9.99990817e-01 4.21499514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.39, Y:48.49, Z:0.42 [[ 7.27625181e-01 -6.85967734e-01 -3.14051304e-03 1.32388012e+02] [ 6.85961536e-01 7.27631958e-01 -2.91617649e-03 4.84923737e+01] [ 4.28554063e-03 -3.23877045e-05 9.99990817e-01 4.21770916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:48.51, Z:0.42 [[ 7.27914638e-01 -6.85660572e-01 -3.13997939e-03 1.32406555e+02] [ 6.85654369e-01 7.27921410e-01 -2.91675098e-03 4.85111514e+01] [ 4.28555937e-03 -2.97948579e-05 9.99990817e-01 4.21462284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.43, Y:48.53, Z:0.42 [[ 7.28891214e-01 -6.84622336e-01 -3.13951467e-03 1.32425017e+02] [ 6.84616121e-01 7.28897974e-01 -2.91725110e-03 4.85309539e+01] [ 4.28560115e-03 -2.30036553e-05 9.99990817e-01 4.20907113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:48.55, Z:0.42 [[ 7.29137129e-01 -6.84360427e-01 -3.13892328e-03 1.32443694e+02] [ 6.84354207e-01 7.29143885e-01 -2.91788729e-03 4.85494018e+01] [ 4.28561331e-03 -2.05953894e-05 9.99990817e-01 4.20509552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.498623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.46, Y:48.57, Z:0.42 [[ 7.29388602e-01 -6.84092405e-01 -3.13830304e-03 1.32463944e+02] [ 6.84086179e-01 7.29395354e-01 -2.91855423e-03 4.85689274e+01] [ 4.28562444e-03 -1.81095428e-05 9.99990817e-01 4.21032588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.48, Y:48.59, Z:0.42 [[ 7.29598188e-01 -6.83868875e-01 -3.13774732e-03 1.32483709e+02] [ 6.83862645e-01 7.29604935e-01 -2.91915156e-03 4.85885266e+01] [ 4.28563283e-03 -1.59804922e-05 9.99990817e-01 4.21227654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.50, Y:48.61, Z:0.42 [[ 7.29552628e-01 -6.83917482e-01 -3.13717308e-03 1.32501694e+02] [ 6.83911249e-01 7.29559372e-01 -2.91976856e-03 4.86081993e+01] [ 4.28563479e-03 -1.54231366e-05 9.99990817e-01 4.22468957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:48.63, Z:0.42 [[ 7.29332567e-01 -6.84152153e-01 -3.13657007e-03 1.32521375e+02] [ 6.84145920e-01 7.29339311e-01 -2.92041620e-03 4.86268928e+01] [ 4.28563289e-03 -1.59169760e-05 9.99990817e-01 4.22318680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.54, Y:48.65, Z:0.42 [[ 7.28791281e-01 -6.84728729e-01 -3.13615441e-03 1.32541017e+02] [ 6.84722500e-01 7.28798029e-01 -2.92086250e-03 4.86459535e+01] [ 4.28562162e-03 -1.86963617e-05 9.99990817e-01 4.22019929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:48.67, Z:0.42 [[ 7.28097329e-01 -6.85466591e-01 -3.13557465e-03 1.32560994e+02] [ 6.85460366e-01 7.28104080e-01 -2.92148475e-03 4.86652338e+01] [ 4.28560489e-03 -2.21869014e-05 9.99990817e-01 4.21725325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.678623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.58, Y:48.68, Z:0.42 [[ 7.27363461e-01 -6.86245267e-01 -3.13503314e-03 1.32581252e+02] [ 6.86239047e-01 7.27370217e-01 -2.92206572e-03 4.86846892e+01] [ 4.28558351e-03 -2.59783194e-05 9.99990817e-01 4.22523625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.60, Y:48.70, Z:0.42 [[ 7.26070401e-01 -6.87613225e-01 -3.13447542e-03 1.32601607e+02] [ 6.87607015e-01 7.26077166e-01 -2.92266386e-03 4.87042433e+01] [ 4.28553336e-03 -3.32275691e-05 9.99990817e-01 4.22564571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.738623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.62, Y:48.72, Z:0.42 [[ 7.25310237e-01 -6.88415020e-01 -3.13391298e-03 1.32621292e+02] [ 6.88408814e-01 7.25317006e-01 -2.92326683e-03 4.87222204e+01] [ 4.28550117e-03 -3.71379573e-05 9.99990817e-01 4.22680583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.768623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:132.64, Y:48.74, Z:0.42 [[ 7.24538155e-01 -6.89227571e-01 -3.13331842e-03 1.32641949e+02] [ 6.89221370e-01 7.24544929e-01 -2.92390398e-03 4.87410041e+01] [ 4.28546521e-03 -4.10700206e-05 9.99990817e-01 4.22491154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.798623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.66, Y:48.76, Z:0.42 [[ 7.23088067e-01 -6.90748748e-01 -3.13279084e-03 1.32661812e+02] [ 6.90742559e-01 7.23094851e-01 -2.92446913e-03 4.87589719e+01] [ 4.28537832e-03 -4.93032348e-05 9.99990817e-01 4.22586680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.828623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.68, Y:48.78, Z:0.42 [[ 7.22957550e-01 -6.90885352e-01 -3.13219232e-03 1.32682517e+02] [ 6.90879162e-01 7.22964334e-01 -2.92511003e-03 4.87785719e+01] [ 4.28537901e-03 -4.92360161e-05 9.99990817e-01 4.22708738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:48.80, Z:0.42 [[ 7.22097177e-01 -6.91784548e-01 -3.13163956e-03 1.32701873e+02] [ 6.91778363e-01 7.22103965e-01 -2.92570170e-03 4.87968961e+01] [ 4.28532457e-03 -5.37595488e-05 9.99990817e-01 4.22382104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:48.82, Z:0.42 [[ 7.21329671e-01 -6.92584798e-01 -3.13105529e-03 1.32722863e+02] [ 6.92578618e-01 7.21336464e-01 -2.92632685e-03 4.88161192e+01] [ 4.28527384e-03 -5.76555600e-05 9.99990817e-01 4.23322325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.74, Y:48.83, Z:0.42 [[ 7.20777856e-01 -6.93159060e-01 -3.13049961e-03 1.32743902e+02] [ 6.93152883e-01 7.20784652e-01 -2.92692118e-03 4.88348806e+01] [ 4.28523800e-03 -6.02548559e-05 9.99990817e-01 4.23652703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:48.85, Z:0.42 [[ 7.20264472e-01 -6.93692506e-01 -3.12994710e-03 1.32764772e+02] [ 6.93686332e-01 7.20271270e-01 -2.92751189e-03 4.88530931e+01] [ 4.28520403e-03 -6.26187095e-05 9.99990817e-01 4.23601618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.78, Y:48.87, Z:0.42 [[ 7.19819917e-01 -6.94153798e-01 -3.12939695e-03 1.32784977e+02] [ 6.94147625e-01 7.19826716e-01 -2.92809986e-03 4.88706367e+01] [ 4.28517517e-03 -6.45588659e-05 9.99990817e-01 4.23487902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:48.89, Z:0.42 [[ 7.19942445e-01 -6.94026718e-01 -3.12899371e-03 1.32804458e+02] [ 6.94020542e-01 7.19949242e-01 -2.92853070e-03 4.88884034e+01] [ 4.28519520e-03 -6.32123592e-05 9.99990817e-01 4.23999099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:48.91, Z:0.42 [[ 7.20238818e-01 -6.93719150e-01 -3.12834895e-03 1.32823789e+02] [ 6.93712968e-01 7.20245609e-01 -2.92921929e-03 4.89055595e+01] [ 4.28523511e-03 -6.04387962e-05 9.99990817e-01 4.23992527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:48.92, Z:0.42 [[ 7.20706031e-01 -6.93233751e-01 -3.12770745e-03 1.32843274e+02] [ 6.93227562e-01 7.20712816e-01 -2.92990411e-03 4.89228139e+01] [ 4.28528726e-03 -5.66134470e-05 9.99990817e-01 4.23978811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.86, Y:48.94, Z:0.42 [[ 7.22512137e-01 -6.91351165e-01 -3.12707327e-03 1.32864120e+02] [ 6.91344955e-01 7.22518903e-01 -2.93058080e-03 4.89409558e+01] [ 4.28543000e-03 -4.45061300e-05 9.99990817e-01 4.24959029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.88, Y:48.96, Z:0.42 [[ 7.23649698e-01 -6.90160372e-01 -3.12650546e-03 1.32884534e+02] [ 6.90154148e-01 7.23656451e-01 -2.93118645e-03 4.89593831e+01] [ 4.28550458e-03 -3.66185168e-05 9.99990817e-01 4.24239294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:132.90, Y:48.98, Z:0.43 [[ 7.24826347e-01 -6.88924521e-01 -3.12590589e-03 1.32904680e+02] [ 6.88918283e-01 7.24833087e-01 -2.93182571e-03 4.89785217e+01] [ 4.28556664e-03 -2.84292070e-05 9.99990817e-01 4.32070087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.93, Y:49.00, Z:0.43 [[ 7.26118654e-01 -6.87562311e-01 -3.12535584e-03 1.32925435e+02] [ 6.87556058e-01 7.26125380e-01 -2.93241195e-03 4.89968100e+01] [ 4.28561614e-03 -1.95783185e-05 9.99990817e-01 4.25811874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.95, Y:49.02, Z:0.43 [[ 7.28770617e-01 -6.84750775e-01 -3.12480020e-03 1.32945137e+02] [ 6.84744493e-01 7.28777316e-01 -2.93300393e-03 4.90155395e+01] [ 4.28566021e-03 -2.20264215e-06 9.99990817e-01 4.25826522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:132.97, Y:49.04, Z:0.43 [[ 7.29901713e-01 -6.83544972e-01 -3.12421341e-03 1.32965057e+02] [ 6.83538676e-01 7.29908399e-01 -2.93362883e-03 4.90358375e+01] [ 4.28565685e-03 5.74001090e-06 9.99990817e-01 4.34640093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.278623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.98, Y:49.05, Z:0.43 [[ 7.31081895e-01 -6.82282570e-01 -3.12364710e-03 1.32984974e+02] [ 6.82276261e-01 7.31088568e-01 -2.93423170e-03 4.90537519e+01] [ 4.28563783e-03 1.39734044e-05 9.99990817e-01 4.26720462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.00, Y:49.07, Z:0.43 [[ 7.32020552e-01 -6.81275390e-01 -3.12323397e-03 1.33004446e+02] [ 6.81269070e-01 7.32027214e-01 -2.93467138e-03 4.90724186e+01] [ 4.28561165e-03 2.04770667e-05 9.99990817e-01 4.26855155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.338623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.02, Y:49.09, Z:0.43 [[ 7.33918367e-01 -6.79230505e-01 -3.12265353e-03 1.33024133e+02] [ 6.79224163e-01 7.33925010e-01 -2.93528887e-03 4.90922265e+01] [ 4.28553126e-03 3.32806769e-05 9.99990817e-01 4.26365667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.04, Y:49.11, Z:0.43 [[ 7.34715746e-01 -6.78367913e-01 -3.12211528e-03 1.33043668e+02] [ 6.78361561e-01 7.34722378e-01 -2.93586127e-03 4.91115911e+01] [ 4.28548204e-03 3.91005105e-05 9.99990817e-01 4.25914486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:49.13, Z:0.43 [[ 7.35592547e-01 -6.77417051e-01 -3.12154535e-03 1.33062421e+02] [ 6.77410688e-01 7.35599169e-01 -2.93646712e-03 4.91304142e+01] [ 4.28541906e-03 4.54751519e-05 9.99990817e-01 4.26012401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:49.15, Z:0.43 [[ 7.36492413e-01 -6.76438604e-01 -3.12108899e-03 1.33081828e+02] [ 6.76432230e-01 7.36499024e-01 -2.93695209e-03 4.91500664e+01] [ 4.28534677e-03 5.18377442e-05 9.99990817e-01 4.26709182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:49.17, Z:0.43 [[ 7.38036022e-01 -6.74754097e-01 -3.12055034e-03 1.33100318e+02] [ 6.74747706e-01 7.38042617e-01 -2.93752430e-03 4.91708086e+01] [ 4.28520570e-03 6.24145658e-05 9.99990817e-01 4.27901543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:49.19, Z:0.43 [[ 7.38740601e-01 -6.73982634e-01 -3.11999129e-03 1.33118765e+02] [ 6.73976233e-01 7.38747186e-01 -2.93811795e-03 4.91903978e+01] [ 4.28512527e-03 6.77070411e-05 9.99990817e-01 4.27028052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.14, Y:49.21, Z:0.43 [[ 7.39395361e-01 -6.73264263e-01 -3.11958418e-03 1.33137589e+02] [ 6.73257854e-01 7.39401939e-01 -2.93855015e-03 4.92106732e+01] [ 4.28504739e-03 7.24658036e-05 9.99990817e-01 4.27887129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.548623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.16, Y:49.23, Z:0.43 [[ 7.39797115e-01 -6.72822785e-01 -3.11904746e-03 1.33156639e+02] [ 6.72816370e-01 7.39803686e-01 -2.93911973e-03 4.92317176e+01] [ 4.28498953e-03 7.58061080e-05 9.99990817e-01 4.28728381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.578623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.17, Y:49.25, Z:0.43 [[ 7.40134592e-01 -6.72451531e-01 -3.11849337e-03 1.33174613e+02] [ 6.72445110e-01 7.40141157e-01 -2.93970751e-03 4.92519800e+01] [ 4.28493611e-03 7.87636040e-05 9.99990817e-01 4.29475306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.608623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.19, Y:49.27, Z:0.43 [[ 7.40184290e-01 -6.72396829e-01 -3.11790902e-03 1.33190613e+02] [ 6.72390405e-01 7.40190852e-01 -2.94032715e-03 4.92739863e+01] [ 4.28491439e-03 7.99318516e-05 9.99990817e-01 4.29370556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.638623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:133.21, Y:49.30, Z:0.44 [[ 7.39640137e-01 -6.72995355e-01 -3.11750617e-03 1.33208232e+02] [ 6.72988935e-01 7.39646703e-01 -2.94075422e-03 4.92957872e+01] [ 4.28496709e-03 7.70526978e-05 9.99990817e-01 4.37929711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.668623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.23, Y:49.32, Z:0.43 [[ 7.39056811e-01 -6.73635892e-01 -3.11695739e-03 1.33226810e+02] [ 6.73629474e-01 7.39063380e-01 -2.94133577e-03 4.93153473e+01] [ 4.28501841e-03 7.41398655e-05 9.99990817e-01 4.29586557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:49.34, Z:0.43 [[ 7.38046946e-01 -6.74742168e-01 -3.11637574e-03 1.33245572e+02] [ 6.74735758e-01 7.38053522e-01 -2.94195190e-03 4.93360204e+01] [ 4.28511110e-03 6.85684703e-05 9.99990817e-01 4.29833344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:49.36, Z:0.43 [[ 7.35488401e-01 -6.77530150e-01 -3.11582012e-03 1.33262467e+02] [ 6.77523762e-01 7.35494999e-01 -2.94254024e-03 4.93573190e+01] [ 4.28532985e-03 5.31620509e-05 9.99990817e-01 4.29477205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:49.38, Z:0.43 [[ 7.33936562e-01 -6.79210879e-01 -3.11523281e-03 1.33281468e+02] [ 6.79204504e-01 7.33943172e-01 -2.94316189e-03 4.93784856e+01] [ 4.28543142e-03 4.42139640e-05 9.99990817e-01 4.29617107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:49.40, Z:0.43 [[ 7.32293186e-01 -6.80982371e-01 -3.11466599e-03 1.33299861e+02] [ 6.80976009e-01 7.32299809e-01 -2.94376161e-03 4.93987868e+01] [ 4.28551907e-03 3.46837504e-05 9.99990817e-01 4.27997309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.32, Y:49.42, Z:0.43 [[ 7.29282706e-01 -6.84205406e-01 -3.11406826e-03 1.33317855e+02] [ 6.84199071e-01 7.29289354e-01 -2.94439379e-03 4.94211484e+01] [ 4.28562698e-03 1.66528651e-05 9.99990817e-01 4.28638124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.34, Y:49.44, Z:0.43 [[ 7.27883414e-01 -6.85693840e-01 -3.11349796e-03 1.33336946e+02] [ 6.85687515e-01 7.27890073e-01 -2.94499672e-03 4.94421777e+01] [ 4.28565037e-03 8.72758422e-06 9.99990817e-01 4.28692222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:49.46, Z:0.43 [[ 7.26710110e-01 -6.86937207e-01 -3.11292606e-03 1.33354909e+02] [ 6.86930891e-01 7.26716777e-01 -2.94560111e-03 4.94624285e+01] [ 4.28565859e-03 2.23303138e-06 9.99990817e-01 4.27766802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.37, Y:49.48, Z:0.43 [[ 7.25709742e-01 -6.87993957e-01 -3.11232032e-03 1.33373939e+02] [ 6.87987648e-01 7.25716415e-01 -2.94624100e-03 4.94836330e+01] [ 4.28565794e-03 -3.12214224e-06 9.99990817e-01 4.27481698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:49.51, Z:0.43 [[ 7.24234854e-01 -6.89546368e-01 -3.11174628e-03 1.33390264e+02] [ 6.89540071e-01 7.24241539e-01 -2.94684715e-03 4.95052148e+01] [ 4.28564367e-03 -1.14643346e-05 9.99990817e-01 4.26354695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:133.41, Y:49.53, Z:0.43 [[ 7.23608670e-01 -6.90203458e-01 -3.11117498e-03 1.33408462e+02] [ 6.90197164e-01 7.23615359e-01 -2.94745018e-03 4.95263221e+01] [ 4.28563431e-03 -1.45236420e-05 9.99990817e-01 4.32109470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.43, Y:49.55, Z:0.43 [[ 7.22888207e-01 -6.90958005e-01 -3.11060515e-03 1.33426821e+02] [ 6.90951716e-01 7.22894899e-01 -2.94805144e-03 4.95458316e+01] [ 4.28562034e-03 -1.81663493e-05 9.99990817e-01 4.26196989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.45, Y:49.57, Z:0.43 [[ 7.22028557e-01 -6.91856264e-01 -3.11000401e-03 1.33446061e+02] [ 6.91849981e-01 7.22035255e-01 -2.94868547e-03 4.95668810e+01] [ 4.28559905e-03 -2.26211013e-05 9.99990817e-01 4.26622953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.058623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.46, Y:49.59, Z:0.43 [[ 7.19817311e-01 -6.94156590e-01 -3.10943854e-03 1.33464578e+02] [ 6.94150325e-01 7.19824026e-01 -2.94928164e-03 4.95886370e+01] [ 4.28551185e-03 -3.54737921e-05 9.99990817e-01 4.27262809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:49.61, Z:0.43 [[ 7.18337911e-01 -6.95687416e-01 -3.10887572e-03 1.33483796e+02] [ 6.95681163e-01 7.18344637e-01 -2.94987480e-03 4.96091188e+01] [ 4.28543498e-03 -4.37793757e-05 9.99990817e-01 4.27257596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.118623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.50, Y:49.63, Z:0.43 [[ 7.16926150e-01 -6.97142190e-01 -3.10831455e-03 1.33502578e+02] [ 6.97135949e-01 7.16932887e-01 -2.95046599e-03 4.96283913e+01] [ 4.28534725e-03 -5.16515943e-05 9.99990817e-01 4.28024280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.52, Y:49.65, Z:0.43 [[ 7.15322554e-01 -6.98787511e-01 -3.10772034e-03 1.33522349e+02] [ 6.98781282e-01 7.15329302e-01 -2.95109174e-03 4.96486129e+01] [ 4.28522947e-03 -6.06343172e-05 9.99990817e-01 4.28445365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.54, Y:49.67, Z:0.43 [[ 7.12637450e-01 -7.01525631e-01 -3.10716734e-03 1.33542319e+02] [ 7.01519425e-01 7.12644219e-01 -2.95167387e-03 4.96688139e+01] [ 4.28497972e-03 -7.62649125e-05 9.99990817e-01 4.28948593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.56, Y:49.69, Z:0.43 [[ 7.11216927e-01 -7.02965740e-01 -3.10661603e-03 1.33562518e+02] [ 7.02959546e-01 7.11223707e-01 -2.95225400e-03 4.96884581e+01] [ 4.28483239e-03 -8.41323761e-05 9.99990817e-01 4.29512929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.58, Y:49.71, Z:0.43 [[ 7.10023078e-01 -7.04171557e-01 -3.10605204e-03 1.33582709e+02] [ 7.04165371e-01 7.10029866e-01 -2.95284726e-03 4.97075222e+01] [ 4.28470077e-03 -9.05845887e-05 9.99990817e-01 4.29763668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.268623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.60, Y:49.73, Z:0.43 [[ 7.08844533e-01 -7.05357912e-01 -3.10547977e-03 1.33602341e+02] [ 7.05351735e-01 7.08851329e-01 -2.95344898e-03 4.97262962e+01] [ 4.28456207e-03 -9.69193817e-05 9.99990817e-01 4.29224552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:49.75, Z:0.43 [[ 7.07117501e-01 -7.07089244e-01 -3.10487698e-03 1.33622160e+02] [ 7.07083081e-01 7.07124310e-01 -2.95408255e-03 4.97451293e+01] [ 4.28433399e-03 -1.06522511e-04 9.99990817e-01 4.29309138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.328623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.64, Y:49.76, Z:0.43 [[ 7.06327839e-01 -7.07878059e-01 -3.10426668e-03 1.33642053e+02] [ 7.07871901e-01 7.06334652e-01 -2.95472374e-03 4.97645201e+01] [ 4.28423523e-03 -1.10419522e-04 9.99990817e-01 4.29886520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.358623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.66, Y:49.78, Z:0.43 [[ 7.05790546e-01 -7.08413772e-01 -3.10371831e-03 1.33662205e+02] [ 7.08407616e-01 7.05797362e-01 -2.95529964e-03 4.97836461e+01] [ 4.28417116e-03 -1.12875141e-04 9.99990817e-01 4.30337665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.388623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.68, Y:49.80, Z:0.43 [[ 7.05482880e-01 -7.08720168e-01 -3.10315824e-03 1.33681729e+02] [ 7.08714013e-01 7.05489696e-01 -2.95588762e-03 4.98022889e+01] [ 4.28414333e-03 -1.13923619e-04 9.99990817e-01 4.30303113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.418623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.70, Y:49.82, Z:0.43 [[ 7.05441160e-01 -7.08761697e-01 -3.10274721e-03 1.33701782e+02] [ 7.08755541e-01 7.05447974e-01 -2.95631901e-03 4.98217944e+01] [ 4.28415241e-03 -1.13580169e-04 9.99990817e-01 4.31206807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.72, Y:49.84, Z:0.43 [[ 7.06426700e-01 -7.07779410e-01 -3.10216818e-03 1.33721730e+02] [ 7.07773242e-01 7.06433504e-01 -2.95692648e-03 4.98401248e+01] [ 4.28432722e-03 -1.06779814e-04 9.99990817e-01 4.30603536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:49.86, Z:0.43 [[ 7.07104893e-01 -7.07101867e-01 -3.10155293e-03 1.33742185e+02] [ 7.07095689e-01 7.07111688e-01 -2.95757168e-03 4.98588252e+01] [ 4.28444879e-03 -1.01781306e-04 9.99990817e-01 4.31196041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.76, Y:49.88, Z:0.43 [[ 7.07994194e-01 -7.06211445e-01 -3.10098201e-03 1.33762036e+02] [ 7.06205256e-01 7.08000979e-01 -2.95817017e-03 4.98768538e+01] [ 4.28459192e-03 -9.55624866e-05 9.99990817e-01 4.31199909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:49.90, Z:0.43 [[ 7.10146527e-01 -7.04047085e-01 -3.10037669e-03 1.33782599e+02] [ 7.04040872e-01 7.10153290e-01 -2.95880445e-03 4.98959864e+01] [ 4.28488035e-03 -8.16072054e-05 9.99990817e-01 4.31629046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.80, Y:49.92, Z:0.43 [[ 7.11328884e-01 -7.02852481e-01 -3.09979752e-03 1.33802711e+02] [ 7.02846254e-01 7.11335634e-01 -2.95941110e-03 4.99152168e+01] [ 4.28502586e-03 -7.35664809e-05 9.99990817e-01 4.31627472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59862385300002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:133.82, Y:49.93, Z:0.43 [[ 7.12645556e-01 -7.01517431e-01 -3.09921426e-03 1.33821725e+02] [ 7.01511189e-01 7.12652292e-01 -2.96002178e-03 4.99337138e+01] [ 4.28516902e-03 -6.46871149e-05 9.99990817e-01 4.30963719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:49.95, Z:0.43 [[ 7.13792651e-01 -7.00350234e-01 -3.09878760e-03 1.33841495e+02] [ 7.00343979e-01 7.13799375e-01 -2.96046837e-03 4.99531129e+01] [ 4.28527737e-03 -5.70566752e-05 9.99990817e-01 4.32014385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:49.97, Z:0.43 [[ 7.16067093e-01 -6.98024584e-01 -3.09821347e-03 1.33860352e+02] [ 6.98018305e-01 7.16073794e-01 -2.96106909e-03 4.99726333e+01] [ 4.28544850e-03 -4.22855757e-05 9.99990817e-01 4.31395386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:49.99, Z:0.43 [[ 7.17096746e-01 -6.96966758e-01 -3.09760588e-03 1.33880283e+02] [ 6.96960466e-01 7.17103435e-01 -2.96170456e-03 4.99921083e+01] [ 4.28551345e-03 -3.50801380e-05 9.99990817e-01 4.31740512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.90, Y:50.01, Z:0.43 [[ 7.17847480e-01 -6.96193511e-01 -3.09704520e-03 1.33899817e+02] [ 6.96187209e-01 7.17854160e-01 -2.96229075e-03 5.00118059e+01] [ 4.28555438e-03 -2.96503073e-05 9.99990817e-01 4.32435355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.92, Y:50.03, Z:0.43 [[ 7.17709803e-01 -6.96335445e-01 -3.09646118e-03 1.33920283e+02] [ 6.96329142e-01 7.17716482e-01 -2.96290110e-03 5.00316450e+01] [ 4.28555428e-03 -2.96529919e-05 9.99990817e-01 4.32557425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:50.05, Z:0.43 [[ 7.18587202e-01 -6.95429974e-01 -3.09587518e-03 1.33939672e+02] [ 6.95423660e-01 7.18593871e-01 -2.96351327e-03 5.00507905e+01] [ 4.28559288e-03 -2.34021358e-05 9.99990817e-01 4.32683586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:50.07, Z:0.43 [[ 7.19332933e-01 -6.94658586e-01 -3.09525591e-03 1.33958493e+02] [ 6.94652262e-01 7.19339592e-01 -2.96415992e-03 5.00695120e+01] [ 4.28561927e-03 -1.79086692e-05 9.99990817e-01 4.32465862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:50.09, Z:0.43 [[ 7.20867143e-01 -6.93066364e-01 -3.09464203e-03 1.33977886e+02] [ 6.93060023e-01 7.20873786e-01 -2.96480069e-03 5.00897528e+01] [ 4.28564995e-03 -7.54527463e-06 9.99990817e-01 4.31088893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.00, Y:50.11, Z:0.43 [[ 7.21278948e-01 -6.92637788e-01 -3.09407863e-03 1.33997238e+02] [ 6.92631440e-01 7.21285584e-01 -2.96538854e-03 5.01096563e+01] [ 4.28565447e-03 -4.18381391e-06 9.99990817e-01 4.31413511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.898623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.02, Y:50.13, Z:0.43 [[ 7.21407432e-01 -6.92503969e-01 -3.09351246e-03 1.34016735e+02] [ 6.92497617e-01 7.21414065e-01 -2.96597906e-03 5.01301936e+01] [ 4.28565567e-03 -2.57067002e-06 9.99990817e-01 4.31603956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.04, Y:50.15, Z:0.43 [[ 7.21460811e-01 -6.92448361e-01 -3.09294230e-03 1.34035477e+02] [ 6.92442006e-01 7.21467441e-01 -2.96657351e-03 5.01498103e+01] [ 4.28565612e-03 -1.41664277e-06 9.99990817e-01 4.31511153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.05, Y:50.17, Z:0.43 [[ 7.21016129e-01 -6.92911379e-01 -3.09233749e-03 1.34053936e+02] [ 6.92905026e-01 7.21022761e-01 -2.96720382e-03 5.01707304e+01] [ 4.28565500e-03 -3.29437125e-06 9.99990817e-01 4.32658168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:50.19, Z:0.43 [[ 7.20309279e-01 -6.93646151e-01 -3.09177998e-03 1.34073098e+02] [ 6.93639803e-01 7.20315914e-01 -2.96778462e-03 5.01905269e+01] [ 4.28565071e-03 -6.85885252e-06 9.99990817e-01 4.32392243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.09, Y:50.21, Z:0.43 [[ 7.19520227e-01 -6.94464605e-01 -3.09122309e-03 1.34092759e+02] [ 6.94458261e-01 7.19526867e-01 -2.96836456e-03 5.02102208e+01] [ 4.28564219e-03 -1.09270644e-05 9.99990817e-01 4.31837597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.11, Y:50.23, Z:0.43 [[ 7.17474651e-01 -6.96577758e-01 -3.09066436e-03 1.34111758e+02] [ 6.96571431e-01 7.17481308e-01 -2.96894620e-03 5.02289280e+01] [ 4.28559579e-03 -2.27248583e-05 9.99990817e-01 4.30593973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.078623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.13, Y:50.25, Z:0.43 [[ 7.16233959e-01 -6.97853399e-01 -3.09007179e-03 1.34131917e+02] [ 6.97847082e-01 7.16240624e-01 -2.96956282e-03 5.02488078e+01] [ 4.28555445e-03 -2.94958414e-05 9.99990817e-01 4.30963713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.15, Y:50.27, Z:0.43 [[ 7.14893356e-01 -6.99226676e-01 -3.08949199e-03 1.34151308e+02] [ 6.99220369e-01 7.14900031e-01 -2.97016591e-03 5.02672067e+01] [ 4.28549716e-03 -3.68838505e-05 9.99990817e-01 4.30495957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.17, Y:50.29, Z:0.43 [[ 7.13338571e-01 -7.00812772e-01 -3.08888052e-03 1.34171492e+02] [ 7.00806477e-01 7.13345257e-01 -2.97080168e-03 5.02864845e+01] [ 4.28541403e-03 -4.55200481e-05 9.99990817e-01 4.30396230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.19, Y:50.31, Z:0.43 [[ 7.10356953e-01 -7.03834825e-01 -3.08832663e-03 1.34192105e+02] [ 7.03828556e-01 7.10363664e-01 -2.97137738e-03 5.03056460e+01] [ 4.28519389e-03 -6.29138909e-05 9.99990817e-01 4.29989796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.21, Y:50.32, Z:0.43 [[ 7.08925402e-01 -7.05276712e-01 -3.08777499e-03 1.34211739e+02] [ 7.05270454e-01 7.08932123e-01 -2.97195051e-03 5.03248544e+01] [ 4.28507036e-03 -7.08252622e-05 9.99990817e-01 4.30627970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:50.34, Z:0.43 [[ 7.07727191e-01 -7.06479081e-01 -3.08719176e-03 1.34231958e+02] [ 7.06472832e-01 7.07733920e-01 -2.97255624e-03 5.03441668e+01] [ 4.28495912e-03 -7.72582280e-05 9.99990817e-01 4.30721376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.25, Y:50.36, Z:0.43 [[ 7.06633607e-01 -7.07572906e-01 -3.08663843e-03 1.34252292e+02] [ 7.07566665e-01 7.06640344e-01 -2.97313069e-03 5.03630003e+01] [ 4.28484996e-03 -8.30883987e-05 9.99990817e-01 4.31568928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.27, Y:50.38, Z:0.43 [[ 7.05365877e-01 -7.08836691e-01 -3.08608072e-03 1.34272694e+02] [ 7.08830459e-01 7.05372623e-01 -2.97370947e-03 5.03802128e+01] [ 4.28471124e-03 -8.99548239e-05 9.99990817e-01 4.31931389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.29, Y:50.40, Z:0.43 [[ 7.04962305e-01 -7.09238062e-01 -3.08549372e-03 1.34291983e+02] [ 7.09231831e-01 7.04969051e-01 -2.97431842e-03 5.03984719e+01] [ 4.28467741e-03 -9.15479889e-05 9.99990817e-01 4.32181570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.31, Y:50.42, Z:0.43 [[ 7.04881527e-01 -7.09318346e-01 -3.08490876e-03 1.34312370e+02] [ 7.09312113e-01 7.04888272e-01 -2.97492500e-03 5.04183662e+01] [ 4.28468489e-03 -9.11934785e-05 9.99990817e-01 4.32560896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.33, Y:50.44, Z:0.43 [[ 7.05487983e-01 -7.08715170e-01 -3.08435379e-03 1.34331988e+02] [ 7.08708929e-01 7.05494720e-01 -2.97550028e-03 5.04368529e+01] [ 4.28477750e-03 -8.67293813e-05 9.99990817e-01 4.32274150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.35, Y:50.46, Z:0.43 [[ 7.05930532e-01 -7.08274364e-01 -3.08376954e-03 1.34351849e+02] [ 7.08268116e-01 7.05937262e-01 -2.97610566e-03 5.04555099e+01] [ 4.28484717e-03 -8.32117899e-05 9.99990817e-01 4.32072972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:50.47, Z:0.43 [[ 7.05924928e-01 -7.08279952e-01 -3.08317035e-03 1.34370889e+02] [ 7.08273701e-01 7.05931656e-01 -2.97672628e-03 5.04740248e+01] [ 4.28486309e-03 -8.23831910e-05 9.99990817e-01 4.31251449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.39, Y:50.49, Z:0.43 [[ 7.05820897e-01 -7.08383624e-01 -3.08270695e-03 1.34389734e+02] [ 7.08377372e-01 7.05827624e-01 -2.97720609e-03 5.04923707e+01] [ 4.28486377e-03 -8.23455754e-05 9.99990817e-01 4.30292968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.498623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.41, Y:50.51, Z:0.43 [[ 7.05314308e-01 -7.08888022e-01 -3.08208391e-03 1.34409105e+02] [ 7.08881772e-01 7.05321037e-01 -2.97785094e-03 5.05097363e+01] [ 4.28482149e-03 -8.45122254e-05 9.99990817e-01 4.28671840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:50.53, Z:0.43 [[ 7.04864902e-01 -7.09334882e-01 -3.08146345e-03 1.34429903e+02] [ 7.09328634e-01 7.04871632e-01 -2.97849286e-03 5.05283605e+01] [ 4.28478505e-03 -8.63351845e-05 9.99990817e-01 4.30605672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:50.55, Z:0.43 [[ 7.04595158e-01 -7.09602827e-01 -3.08088137e-03 1.34450325e+02] [ 7.09596579e-01 7.04601888e-01 -2.97909483e-03 5.05464533e+01] [ 4.28476894e-03 -8.71270876e-05 9.99990817e-01 4.31134503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:50.57, Z:0.43 [[ 7.04196566e-01 -7.09998386e-01 -3.08045581e-03 1.34470721e+02] [ 7.09992139e-01 7.04203298e-01 -2.97953480e-03 5.05650219e+01] [ 4.28473204e-03 -8.89212410e-05 9.99990817e-01 4.32375816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.49, Y:50.58, Z:0.43 [[ 7.03780512e-01 -7.10410801e-01 -3.07988713e-03 1.34491994e+02] [ 7.10404556e-01 7.03787245e-01 -2.98012252e-03 5.05817178e+01] [ 4.28469650e-03 -9.06136965e-05 9.99990817e-01 4.33758970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.51, Y:50.60, Z:0.43 [[ 7.03487859e-01 -7.10700606e-01 -3.07928596e-03 1.34513521e+02] [ 7.10694361e-01 7.03494592e-01 -2.98074357e-03 5.06000409e+01] [ 4.28467727e-03 -9.15142555e-05 9.99990817e-01 4.34059554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.53, Y:50.62, Z:0.43 [[ 7.03072349e-01 -7.11111661e-01 -3.07872176e-03 1.34534142e+02] [ 7.11105417e-01 7.03079083e-01 -2.98132619e-03 5.06178349e+01] [ 4.28464069e-03 -9.32077177e-05 9.99990817e-01 4.33585401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:50.63, Z:0.43 [[ 7.02751904e-01 -7.11428342e-01 -3.07812488e-03 1.34554147e+02] [ 7.11422099e-01 7.02758639e-01 -2.98194232e-03 5.06347336e+01] [ 4.28461714e-03 -9.42804207e-05 9.99990817e-01 4.32213933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:50.65, Z:0.43 [[ 7.02367726e-01 -7.11807633e-01 -3.07746837e-03 1.34575059e+02] [ 7.11801391e-01 7.02374462e-01 -2.98261971e-03 5.06529362e+01] [ 4.28458667e-03 -9.56504381e-05 9.99990817e-01 4.33176834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:50.67, Z:0.43 [[ 7.02213822e-01 -7.11959465e-01 -3.07690475e-03 1.34597503e+02] [ 7.11953222e-01 7.02220557e-01 -2.98320104e-03 5.06689396e+01] [ 4.28458398e-03 -9.57672412e-05 9.99990817e-01 4.32900407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:50.69, Z:0.43 [[ 7.02279223e-01 -7.11894957e-01 -3.07630933e-03 1.34618713e+02] [ 7.11888710e-01 7.02285954e-01 -2.98381492e-03 5.06867488e+01] [ 4.28461162e-03 -9.45186572e-05 9.99990817e-01 4.33310618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:50.70, Z:0.43 [[ 7.02417716e-01 -7.11758310e-01 -3.07574700e-03 1.34639055e+02] [ 7.11752060e-01 7.02424444e-01 -2.98439445e-03 5.07040905e+01] [ 4.28464743e-03 -9.28777272e-05 9.99990817e-01 4.32779421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.858623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.66, Y:50.72, Z:0.43 [[ 7.02716419e-01 -7.11463406e-01 -3.07515294e-03 1.34659883e+02] [ 7.11457149e-01 7.02723142e-01 -2.98500645e-03 5.07224125e+01] [ 4.28470399e-03 -9.02264997e-05 9.99990817e-01 4.32639775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.68, Y:50.74, Z:0.43 [[ 7.04030841e-01 -7.10162743e-01 -3.07457551e-03 1.34681138e+02] [ 7.10156472e-01 7.04037550e-01 -2.98560109e-03 5.07391930e+01] [ 4.28487927e-03 -8.14744519e-05 9.99990817e-01 4.30598941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.70, Y:50.76, Z:0.43 [[ 7.04516341e-01 -7.09681109e-01 -3.07396762e-03 1.34701417e+02] [ 7.09674830e-01 7.04523043e-01 -2.98622684e-03 5.07566336e+01] [ 4.28494980e-03 -7.76718386e-05 9.99990817e-01 4.30759942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:50.77, Z:0.43 [[ 7.05146066e-01 -7.09055414e-01 -3.07336079e-03 1.34721816e+02] [ 7.09049126e-01 7.05152760e-01 -2.98685125e-03 5.07736381e+01] [ 4.28503189e-03 -7.29973735e-05 9.99990817e-01 4.31136292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:50.79, Z:0.43 [[ 7.06303790e-01 -7.07902192e-01 -3.07289103e-03 1.34744991e+02] [ 7.07895892e-01 7.06310471e-01 -2.98733446e-03 5.07903744e+01] [ 4.28515573e-03 -6.53212839e-05 9.99990817e-01 4.32801217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:50.81, Z:0.43 [[ 7.06830862e-01 -7.07375921e-01 -3.07231858e-03 1.34765203e+02] [ 7.07369613e-01 7.06837536e-01 -2.98792308e-03 5.08082285e+01] [ 4.28521494e-03 -6.13085577e-05 9.99990817e-01 4.32129678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:50.83, Z:0.43 [[ 7.07257227e-01 -7.06949630e-01 -3.07171440e-03 1.34784731e+02] [ 7.06943316e-01 7.07263895e-01 -2.98854408e-03 5.08258214e+01] [ 4.28526282e-03 -5.78585651e-05 9.99990817e-01 4.31563882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:50.84, Z:0.43 [[ 7.07593447e-01 -7.06613107e-01 -3.07106652e-03 1.34805379e+02] [ 7.06606786e-01 7.07600109e-01 -2.98920970e-03 5.08440852e+01] [ 4.28530176e-03 -5.48912558e-05 9.99990817e-01 4.31218026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:50.86, Z:0.43 [[ 7.07810324e-01 -7.06395865e-01 -3.07043171e-03 1.34826252e+02] [ 7.06389540e-01 7.07816981e-01 -2.98986161e-03 5.08599627e+01] [ 4.28532959e-03 -5.26659263e-05 9.99990817e-01 4.30255649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:50.88, Z:0.43 [[ 7.07780970e-01 -7.06425280e-01 -3.06976627e-03 1.34846650e+02] [ 7.06418951e-01 7.07787625e-01 -2.99054469e-03 5.08772683e+01] [ 4.28533894e-03 -5.18904471e-05 9.99990817e-01 4.30552287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:50.89, Z:0.43 [[ 7.07829633e-01 -7.06376522e-01 -3.06913436e-03 1.34867076e+02] [ 7.06370191e-01 7.07836285e-01 -2.99119306e-03 5.08943693e+01] [ 4.28535321e-03 -5.06899444e-05 9.99990817e-01 4.30377876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:50.91, Z:0.43 [[ 7.07667165e-01 -7.06539290e-01 -3.06846969e-03 1.34887549e+02] [ 7.06532957e-01 7.07673816e-01 -2.99187475e-03 5.09119788e+01] [ 4.28535271e-03 -5.07234430e-05 9.99990817e-01 4.30137254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.91, Y:50.93, Z:0.43 [[ 7.07743684e-01 -7.06462643e-01 -3.06784335e-03 1.34907882e+02] [ 7.06456307e-01 7.07750331e-01 -2.99251686e-03 5.09290633e+01] [ 4.28536851e-03 -4.93623788e-05 9.99990817e-01 4.34667303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:50.95, Z:0.43 [[ 7.07919944e-01 -7.06286022e-01 -3.06718310e-03 1.34928095e+02] [ 7.06279681e-01 7.07926587e-01 -2.99319342e-03 5.09458358e+01] [ 4.28539114e-03 -4.73477789e-05 9.99990817e-01 4.30135181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.278623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:134.95, Y:50.96, Z:0.44 [[ 7.08429997e-01 -7.05774423e-01 -3.06653069e-03 1.34949130e+02] [ 7.05768074e-01 7.08436633e-01 -2.99386167e-03 5.09630595e+01] [ 4.28543367e-03 -4.33180407e-05 9.99990817e-01 4.37692167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:50.98, Z:0.43 [[ 7.08349589e-01 -7.05855126e-01 -3.06590281e-03 1.34969648e+02] [ 7.05848776e-01 7.08356223e-01 -2.99450452e-03 5.09794470e+01] [ 4.28543770e-03 -4.29077000e-05 9.99990817e-01 4.29837426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.338623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:134.99, Y:51.00, Z:0.44 [[ 7.08429550e-01 -7.05774877e-01 -3.06524551e-03 1.34989694e+02] [ 7.05768523e-01 7.08436180e-01 -2.99517720e-03 5.09979197e+01] [ 4.28545164e-03 -4.14817549e-05 9.99990817e-01 4.35525547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.01, Y:51.01, Z:0.43 [[ 7.08404306e-01 -7.05800218e-01 -3.06462113e-03 1.35009943e+02] [ 7.05793861e-01 7.08410934e-01 -2.99581591e-03 5.10142556e+01] [ 4.28545864e-03 -4.07418916e-05 9.99990817e-01 4.29485586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:51.03, Z:0.43 [[ 7.08704954e-01 -7.05498335e-01 -3.06396424e-03 1.35031526e+02] [ 7.05491973e-01 7.08711576e-01 -2.99648760e-03 5.10308466e+01] [ 4.28548394e-03 -3.79765697e-05 9.99990817e-01 4.30095077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:51.05, Z:0.43 [[ 7.08816505e-01 -7.05386262e-01 -3.06333514e-03 1.35051981e+02] [ 7.05379896e-01 7.08823123e-01 -2.99713059e-03 5.10481233e+01] [ 4.28549753e-03 -3.63993921e-05 9.99990817e-01 4.29973594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.07, Y:51.07, Z:0.43 [[ 7.08900090e-01 -7.05302263e-01 -3.06270770e-03 1.35072347e+02] [ 7.05295893e-01 7.08906706e-01 -2.99777163e-03 5.10656468e+01] [ 4.28550914e-03 -3.49945827e-05 9.99990817e-01 4.29297298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:135.09, Y:51.08, Z:0.44 [[ 7.09038794e-01 -7.05162827e-01 -3.06208345e-03 1.35091723e+02] [ 7.05156453e-01 7.09045405e-01 -2.99840913e-03 5.10844647e+01] [ 4.28552286e-03 -3.32595084e-05 9.99990817e-01 4.36799343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:51.10, Z:0.43 [[ 7.08977123e-01 -7.05224834e-01 -3.06146378e-03 1.35113302e+02] [ 7.05218458e-01 7.08983732e-01 -2.99904170e-03 5.11001604e+01] [ 4.28552670e-03 -3.27488082e-05 9.99990817e-01 4.29612439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:51.12, Z:0.43 [[ 7.08857669e-01 -7.05344907e-01 -3.06081158e-03 1.35133492e+02] [ 7.05338529e-01 7.08864276e-01 -2.99970718e-03 5.11172795e+01] [ 4.28552817e-03 -3.25429018e-05 9.99990817e-01 4.29521844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.15, Y:51.14, Z:0.43 [[ 7.08485194e-01 -7.05719041e-01 -3.06016343e-03 1.35154479e+02] [ 7.05712664e-01 7.08491802e-01 -3.00036825e-03 5.11350393e+01] [ 4.28551771e-03 -3.38796081e-05 9.99990817e-01 4.29979996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:51.15, Z:0.43 [[ 7.08291967e-01 -7.05912976e-01 -3.05954982e-03 1.35174772e+02] [ 7.05906597e-01 7.08298574e-01 -3.00099384e-03 5.11519366e+01] [ 4.28551526e-03 -3.41765765e-05 9.99990817e-01 4.29758060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:51.17, Z:0.43 [[ 7.08148584e-01 -7.06056815e-01 -3.05890676e-03 1.35194357e+02] [ 7.06050435e-01 7.08155190e-01 -3.00164916e-03 5.11715042e+01] [ 4.28551554e-03 -3.41288459e-05 9.99990817e-01 4.29876540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.668623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.22, Y:51.19, Z:0.43 [[ 7.08440049e-01 -7.05764369e-01 -3.05829701e-03 1.35215700e+02] [ 7.05757984e-01 7.08446649e-01 -3.00227030e-03 5.11877289e+01] [ 4.28553567e-03 -3.14890131e-05 9.99990817e-01 4.29977549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.24, Y:51.20, Z:0.43 [[ 7.08731319e-01 -7.05471876e-01 -3.05782482e-03 1.35235049e+02] [ 7.05465486e-01 7.08737915e-01 -3.00275114e-03 5.12049888e+01] [ 4.28555287e-03 -2.90460983e-05 9.99990817e-01 4.30152660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.25, Y:51.22, Z:0.43 [[ 7.09074925e-01 -7.05126517e-01 -3.05718829e-03 1.35254906e+02] [ 7.05120121e-01 7.09081515e-01 -3.00339907e-03 5.12230856e+01] [ 4.28557203e-03 -2.60500097e-05 9.99990817e-01 4.30071596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.27, Y:51.24, Z:0.43 [[ 7.10439459e-01 -7.03751684e-01 -3.05658812e-03 1.35274747e+02] [ 7.03745273e-01 7.10446034e-01 -3.00400974e-03 5.12403122e+01] [ 4.28561782e-03 -1.68923863e-05 9.99990817e-01 4.29974035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:135.29, Y:51.26, Z:0.44 [[ 7.11107282e-01 -7.03076877e-01 -3.05595788e-03 1.35294239e+02] [ 7.03070457e-01 7.11113848e-01 -3.00465074e-03 5.12597814e+01] [ 4.28563443e-03 -1.19246821e-05 9.99990817e-01 4.36930444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.31, Y:51.28, Z:0.43 [[ 7.11643714e-01 -7.02533906e-01 -3.05539265e-03 1.35314321e+02] [ 7.02527478e-01 7.11650273e-01 -3.00522541e-03 5.12773873e+01] [ 4.28564376e-03 -7.84752011e-06 9.99990817e-01 4.30499245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.34, Y:51.30, Z:0.43 [[ 7.12151849e-01 -7.02018811e-01 -3.05490013e-03 1.35335020e+02] [ 7.02012377e-01 7.12158401e-01 -3.00572599e-03 5.12962900e+01] [ 4.28564898e-03 -4.04438373e-06 9.99990817e-01 4.31926591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:51.32, Z:0.43 [[ 7.12615476e-01 -7.01548184e-01 -3.05433285e-03 1.35355565e+02] [ 7.01541743e-01 7.12622021e-01 -3.00630234e-03 5.13153967e+01] [ 4.28565079e-03 -4.04417990e-07 9.99990817e-01 4.32696436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.38, Y:51.33, Z:0.43 [[ 7.13399872e-01 -7.00750524e-01 -3.05375791e-03 1.35376391e+02] [ 7.00744073e-01 7.13406408e-01 -3.00688624e-03 5.13344856e+01] [ 4.28564757e-03 5.20950013e-06 9.99990817e-01 4.32498190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:51.35, Z:0.43 [[ 7.13750608e-01 -7.00393281e-01 -3.05317478e-03 1.35395948e+02] [ 7.00386824e-01 7.13757138e-01 -3.00747823e-03 5.13529904e+01] [ 4.28564284e-03 8.18602823e-06 9.99990817e-01 4.31722801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.42, Y:51.37, Z:0.43 [[ 7.13948433e-01 -7.00191629e-01 -3.05255746e-03 1.35416209e+02] [ 7.00185168e-01 7.13954958e-01 -3.00810467e-03 5.13728822e+01] [ 4.28563824e-03 1.02761618e-05 9.99990817e-01 4.30896461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.998623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.44, Y:51.39, Z:0.43 [[ 7.14330140e-01 -6.99802212e-01 -3.05199360e-03 1.35435228e+02] [ 6.99795745e-01 7.14336660e-01 -3.00867665e-03 5.13914942e+01] [ 4.28562949e-03 1.34162775e-05 9.99990817e-01 4.30237092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:51.41, Z:0.43 [[ 7.15601291e-01 -6.98502313e-01 -3.05139705e-03 1.35453400e+02] [ 6.98495831e-01 7.15607796e-01 -3.00928155e-03 5.14102406e+01] [ 4.28559364e-03 2.20576439e-05 9.99990817e-01 4.29639774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.47, Y:51.43, Z:0.43 [[ 7.16106555e-01 -6.97984308e-01 -3.05074908e-03 1.35473104e+02] [ 6.97977819e-01 7.16113053e-01 -3.00993830e-03 5.14306693e+01] [ 4.28557094e-03 2.60813574e-05 9.99990817e-01 4.30513795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.49, Y:51.45, Z:0.43 [[ 7.16618831e-01 -6.97458348e-01 -3.05018699e-03 1.35492629e+02] [ 6.97451851e-01 7.16625322e-01 -3.01050781e-03 5.14508414e+01] [ 4.28554503e-03 3.00280255e-05 9.99990817e-01 4.31368820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:51.47, Z:0.43 [[ 7.17103651e-01 -6.96959865e-01 -3.04962628e-03 1.35511367e+02] [ 6.96953361e-01 7.17110135e-01 -3.01107569e-03 5.14703457e+01] [ 4.28551682e-03 3.38060796e-05 9.99990817e-01 4.32337744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:135.53, Y:51.49, Z:0.44 [[ 7.17844223e-01 -6.96197081e-01 -3.04903495e-03 1.35529540e+02] [ 6.96190568e-01 7.17850697e-01 -3.01167435e-03 5.14916946e+01] [ 4.28547076e-03 3.92036620e-05 9.99990817e-01 4.39460697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:51.51, Z:0.43 [[ 7.18035985e-01 -6.95999304e-01 -3.04845707e-03 1.35549006e+02] [ 6.95992786e-01 7.18042455e-01 -3.01225918e-03 5.15111082e+01] [ 4.28545189e-03 4.12063561e-05 9.99990817e-01 4.34375562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.57, Y:51.53, Z:0.44 [[ 7.18070200e-01 -6.95964006e-01 -3.04803333e-03 1.35568719e+02] [ 6.95957487e-01 7.18076667e-01 -3.01268789e-03 5.15315820e+01] [ 4.28544395e-03 4.20197793e-05 9.99990817e-01 4.35369569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.59, Y:51.55, Z:0.44 [[ 7.17823556e-01 -6.96218396e-01 -3.04746691e-03 1.35587675e+02] [ 6.96211877e-01 7.17830024e-01 -3.01326074e-03 5.15528313e+01] [ 4.28545080e-03 4.13068898e-05 9.99990817e-01 4.35078840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:51.57, Z:0.43 [[ 7.17453385e-01 -6.96599854e-01 -3.04690066e-03 1.35607249e+02] [ 6.96593336e-01 7.17459853e-01 -3.01383321e-03 5.15731174e+01] [ 4.28546467e-03 3.98341448e-05 9.99990817e-01 4.34918425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.63, Y:51.59, Z:0.43 [[ 7.16911859e-01 -6.97157160e-01 -3.04631853e-03 1.35625595e+02] [ 6.97150644e-01 7.16918330e-01 -3.01442149e-03 5.15924431e+01] [ 4.28548712e-03 3.73315890e-05 9.99990817e-01 4.34653624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:51.61, Z:0.43 [[ 7.16111691e-01 -6.97979062e-01 -3.04570442e-03 1.35643877e+02] [ 6.97972550e-01 7.16118167e-01 -3.01504184e-03 5.16126960e+01] [ 4.28552035e-03 3.32886283e-05 9.99990817e-01 4.34436436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.358623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.66, Y:51.63, Z:0.43 [[ 7.15360822e-01 -6.98748611e-01 -3.04510124e-03 1.35663109e+02] [ 6.98742104e-01 7.15367303e-01 -3.01565092e-03 5.16333161e+01] [ 4.28554775e-03 2.95380810e-05 9.99990817e-01 4.34855352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.68, Y:51.65, Z:0.44 [[ 7.13439119e-01 -7.00710606e-01 -3.04453514e-03 1.35681550e+02] [ 7.00704115e-01 7.13445615e-01 -3.01622234e-03 5.16529037e+01] [ 4.28560923e-03 1.85727097e-05 9.99990817e-01 4.35869266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:51.67, Z:0.44 [[ 7.12276142e-01 -7.01892750e-01 -3.04393495e-03 1.35699584e+02] [ 7.01886267e-01 7.12282646e-01 -3.01682792e-03 5.16719570e+01] [ 4.28563168e-03 1.23184093e-05 9.99990817e-01 4.36615974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:51.69, Z:0.44 [[ 7.10328637e-01 -7.03863599e-01 -3.04327623e-03 1.35716661e+02] [ 7.03857131e-01 7.10335156e-01 -3.01749226e-03 5.16921583e+01] [ 4.28564906e-03 1.37948631e-06 9.99990817e-01 4.35960275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:51.71, Z:0.44 [[ 7.09224935e-01 -7.04975698e-01 -3.04262060e-03 1.35736259e+02] [ 7.04969237e-01 7.09231461e-01 -3.01815321e-03 5.17127542e+01] [ 4.28564692e-03 -4.40441487e-06 9.99990817e-01 4.36384416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:51.73, Z:0.44 [[ 7.08264079e-01 -7.05941032e-01 -3.04204645e-03 1.35755072e+02] [ 7.05934578e-01 7.08270612e-01 -3.01873179e-03 5.17323674e+01] [ 4.28563874e-03 -9.42648420e-06 9.99990817e-01 4.36370967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:51.75, Z:0.44 [[ 7.07265567e-01 -7.06941417e-01 -3.04143849e-03 1.35773100e+02] [ 7.06934969e-01 7.07272107e-01 -3.01934420e-03 5.17514649e+01] [ 4.28562408e-03 -1.46210352e-05 9.99990817e-01 4.36660070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.79, Y:51.77, Z:0.44 [[ 7.06026578e-01 -7.08178808e-01 -3.04078678e-03 1.35791823e+02] [ 7.08172369e-01 7.06033126e-01 -3.02000040e-03 5.17710936e+01] [ 4.28559648e-03 -2.12006315e-05 9.99990817e-01 4.37256791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:51.79, Z:0.44 [[ 7.05249836e-01 -7.08952344e-01 -3.04016429e-03 1.35809902e+02] [ 7.08945910e-01 7.05256388e-01 -3.02062692e-03 5.17895539e+01] [ 4.28557582e-03 -2.50154024e-05 9.99990817e-01 4.37810965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.83, Y:51.81, Z:0.44 [[ 7.04818851e-01 -7.09380820e-01 -3.03951026e-03 1.35828751e+02] [ 7.09374387e-01 7.04825405e-01 -3.02128489e-03 5.18086274e+01] [ 4.28556560e-03 -2.66921854e-05 9.99990817e-01 4.38136927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.85, Y:51.83, Z:0.44 [[ 7.04352948e-01 -7.09843426e-01 -3.03889140e-03 1.35847185e+02] [ 7.09836994e-01 7.04359503e-01 -3.02190723e-03 5.18281798e+01] [ 4.28555302e-03 -2.86282746e-05 9.99990817e-01 4.38570499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:51.85, Z:0.44 [[ 7.03880405e-01 -7.10312005e-01 -3.03824872e-03 1.35864359e+02] [ 7.10305575e-01 7.03886961e-01 -3.02255325e-03 5.18474528e+01] [ 4.28553952e-03 -3.05690029e-05 9.99990817e-01 4.38830689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.88, Y:51.87, Z:0.44 [[ 7.03578821e-01 -7.10610735e-01 -3.03757612e-03 1.35882501e+02] [ 7.10604304e-01 7.03585377e-01 -3.02322903e-03 5.18661907e+01] [ 4.28553315e-03 -3.14347504e-05 9.99990817e-01 4.38748013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.90, Y:51.88, Z:0.44 [[ 7.03279149e-01 -7.10907319e-01 -3.03690601e-03 1.35900557e+02] [ 7.10900888e-01 7.03285705e-01 -3.02390203e-03 5.18849087e+01] [ 4.28552667e-03 -3.22919348e-05 9.99990817e-01 4.37491958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:51.90, Z:0.44 [[ 7.03098157e-01 -7.11086326e-01 -3.03624366e-03 1.35919397e+02] [ 7.11079894e-01 7.03104712e-01 -3.02456694e-03 5.19045663e+01] [ 4.28552541e-03 -3.24443798e-05 9.99990817e-01 4.37030231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:51.92, Z:0.44 [[ 7.03173040e-01 -7.11012279e-01 -3.03559726e-03 1.35938016e+02] [ 7.11005843e-01 7.03179592e-01 -3.02521555e-03 5.19233319e+01] [ 4.28553545e-03 -3.10773772e-05 9.99990817e-01 4.37437163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:51.94, Z:0.44 [[ 7.03124073e-01 -7.11060706e-01 -3.03491946e-03 1.35957932e+02] [ 7.11054268e-01 7.03130622e-01 -3.02589538e-03 5.19432830e+01] [ 4.28554011e-03 -3.04125544e-05 9.99990817e-01 4.39122081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.98, Y:51.96, Z:0.44 [[ 7.03205305e-01 -7.10980373e-01 -3.03433022e-03 1.35977024e+02] [ 7.10973932e-01 7.03211851e-01 -3.02648615e-03 5.19627165e+01] [ 4.28554922e-03 -2.90885705e-05 9.99990817e-01 4.39663173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:51.98, Z:0.44 [[ 7.04145809e-01 -7.10048925e-01 -3.03389985e-03 1.35995684e+02] [ 7.10042473e-01 7.04152344e-01 -3.02691751e-03 5.19822382e+01] [ 4.28558721e-03 -2.28064776e-05 9.99990817e-01 4.41335841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:52.00, Z:0.44 [[ 7.04756683e-01 -7.09442610e-01 -3.03328263e-03 1.36014384e+02] [ 7.09436151e-01 7.04763210e-01 -3.02753589e-03 5.20020335e+01] [ 4.28560897e-03 -1.82442006e-05 9.99990817e-01 4.41433979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:52.02, Z:0.44 [[ 7.05570824e-01 -7.08632920e-01 -3.03267290e-03 1.36033476e+02] [ 7.08626450e-01 7.05577341e-01 -3.02814654e-03 5.20221802e+01] [ 4.28562961e-03 -1.24603830e-05 9.99990817e-01 4.41438129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.05, Y:52.04, Z:0.45 [[ 7.06606184e-01 -7.07600528e-01 -3.03208747e-03 1.36051269e+02] [ 7.07594046e-01 7.06612689e-01 -3.02873262e-03 5.20424958e+01] [ 4.28564428e-03 -5.36584604e-06 9.99990817e-01 4.46207221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:52.06, Z:0.44 [[ 7.09262196e-01 -7.04938258e-01 -3.03146988e-03 1.36069636e+02] [ 7.04931749e-01 7.09268674e-01 -3.02935063e-03 5.20616439e+01] [ 4.28563179e-03 1.16245162e-05 9.99990817e-01 4.41999209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:52.08, Z:0.44 [[ 7.10582298e-01 -7.03607568e-01 -3.03109951e-03 1.36088694e+02] [ 7.03601046e-01 7.10588763e-01 -3.02972117e-03 5.20817059e+01] [ 4.28560000e-03 2.01814459e-05 9.99990817e-01 4.42586982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:52.10, Z:0.44 [[ 7.11895071e-01 -7.02279306e-01 -3.03052586e-03 1.36107228e+02] [ 7.02272769e-01 7.11901521e-01 -3.03029487e-03 5.21018254e+01] [ 4.28554935e-03 2.89961876e-05 9.99990817e-01 4.42456946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:52.12, Z:0.44 [[ 7.12955734e-01 -7.01202496e-01 -3.02991973e-03 1.36125823e+02] [ 7.01195947e-01 7.12962171e-01 -3.03090081e-03 5.21230814e+01] [ 4.28549336e-03 3.63306748e-05 9.99990817e-01 4.42282302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:52.14, Z:0.44 [[ 7.14922959e-01 -6.99196672e-01 -3.02935632e-03 1.36143388e+02] [ 6.99190102e-01 7.14929375e-01 -3.03146382e-03 5.21448433e+01] [ 4.28536524e-03 4.91671247e-05 9.99990817e-01 4.40880668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.16, Y:52.17, Z:0.44 [[ 7.15576723e-01 -6.98527580e-01 -3.02877964e-03 1.36161835e+02] [ 6.98521002e-01 7.15583130e-01 -3.03203988e-03 5.21650758e+01] [ 4.28530710e-03 5.39909702e-05 9.99990817e-01 4.40150622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.18, Y:52.19, Z:0.44 [[ 7.16035501e-01 -6.98057298e-01 -3.02817066e-03 1.36180616e+02] [ 6.98050713e-01 7.16041902e-01 -3.03264797e-03 5.21864141e+01] [ 4.28525912e-03 5.76669202e-05 9.99990817e-01 4.41589262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:52.21, Z:0.44 [[ 7.16351669e-01 -6.97732842e-01 -3.02759871e-03 1.36198520e+02] [ 6.97726252e-01 7.16358065e-01 -3.03321885e-03 5.22068071e+01] [ 4.28522117e-03 6.04162893e-05 9.99990817e-01 4.41063035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:52.23, Z:0.44 [[ 7.16522024e-01 -6.97557902e-01 -3.02699362e-03 1.36215679e+02] [ 6.97551307e-01 7.16528415e-01 -3.03382258e-03 5.22297224e+01] [ 4.28519386e-03 6.23173372e-05 9.99990817e-01 4.42671947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:52.25, Z:0.44 [[ 7.16556448e-01 -6.97522542e-01 -3.02664299e-03 1.36233126e+02] [ 6.97515946e-01 7.16562837e-01 -3.03417234e-03 5.22499969e+01] [ 4.28518349e-03 6.30240109e-05 9.99990817e-01 4.42922622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.25, Y:52.27, Z:0.44 [[ 7.16438218e-01 -6.97643979e-01 -3.02622944e-03 1.36251401e+02] [ 6.97637382e-01 7.16444607e-01 -3.03458475e-03 5.22720069e+01] [ 4.28518554e-03 6.28817059e-05 9.99990817e-01 4.43592322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:52.29, Z:0.44 [[ 7.16224835e-01 -6.97863046e-01 -3.02566924e-03 1.36266992e+02] [ 6.97856448e-01 7.16231224e-01 -3.03514321e-03 5.22944299e+01] [ 4.28519306e-03 6.23621544e-05 9.99990817e-01 4.43200253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:52.32, Z:0.44 [[ 7.15999299e-01 -6.98094444e-01 -3.02507746e-03 1.36284665e+02] [ 6.98087846e-01 7.16005687e-01 -3.03573291e-03 5.23153769e+01] [ 4.28520094e-03 6.18128258e-05 9.99990817e-01 4.43105477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.30, Y:52.34, Z:0.44 [[ 7.15930642e-01 -6.98164858e-01 -3.02446090e-03 1.36302995e+02] [ 6.98158258e-01 7.15937027e-01 -3.03634706e-03 5.23365409e+01] [ 4.28519436e-03 6.22615440e-05 9.99990817e-01 4.42786734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:136.32, Y:52.36, Z:0.44 [[ 7.15668932e-01 -6.98433129e-01 -3.02390886e-03 1.36320651e+02] [ 6.98426529e-01 7.15675318e-01 -3.03689673e-03 5.23581782e+01] [ 4.28520622e-03 6.14344736e-05 9.99990817e-01 4.42223507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:136.34, Y:52.38, Z:0.45 [[ 7.15231145e-01 -6.98881441e-01 -3.02335920e-03 1.36335598e+02] [ 6.98874843e-01 7.15237533e-01 -3.03744385e-03 5.23831628e+01] [ 4.28523311e-03 5.95247585e-05 9.99990817e-01 4.46636718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:52.40, Z:0.44 [[ 7.14682444e-01 -6.99442540e-01 -3.02280827e-03 1.36352503e+02] [ 6.99435944e-01 7.14688835e-01 -3.03799202e-03 5.24032514e+01] [ 4.28526818e-03 5.69388109e-05 9.99990817e-01 4.41473382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:52.42, Z:0.44 [[ 7.14540450e-01 -6.99587601e-01 -3.02215706e-03 1.36371850e+02] [ 6.99581005e-01 7.14546839e-01 -3.03863970e-03 5.24230422e+01] [ 4.28526743e-03 5.69873120e-05 9.99990817e-01 4.41591865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:52.44, Z:0.44 [[ 7.13911406e-01 -7.00229516e-01 -3.02154011e-03 1.36388608e+02] [ 7.00222922e-01 7.13917798e-01 -3.03925305e-03 5.24439974e+01] [ 4.28530596e-03 5.40057737e-05 9.99990817e-01 4.40898580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:136.41, Y:52.47, Z:0.45 [[ 7.13088071e-01 -7.01067955e-01 -3.02089209e-03 1.36405470e+02] [ 7.01061366e-01 7.13094468e-01 -3.03989702e-03 5.24661391e+01] [ 4.28535583e-03 4.98835608e-05 9.99990817e-01 4.48777988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:52.49, Z:0.44 [[ 7.11012052e-01 -7.03173335e-01 -3.02028101e-03 1.36421581e+02] [ 7.03166763e-01 7.11018466e-01 -3.04050404e-03 5.24864399e+01] [ 4.28547694e-03 3.80738003e-05 9.99990817e-01 4.41672868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:52.51, Z:0.44 [[ 7.09603102e-01 -7.04595146e-01 -3.01963823e-03 1.36439119e+02] [ 7.04588583e-01 7.09609526e-01 -3.04114227e-03 5.25072322e+01] [ 4.28553814e-03 3.04013616e-05 9.99990817e-01 4.41731394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:52.53, Z:0.44 [[ 7.08175444e-01 -7.06030046e-01 -3.01903390e-03 1.36456795e+02] [ 7.06023494e-01 7.08181879e-01 -3.04174209e-03 5.25283107e+01] [ 4.28558641e-03 2.25781881e-05 9.99990817e-01 4.41706954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.47, Y:52.55, Z:0.44 [[ 7.05424413e-01 -7.08778729e-01 -3.01842905e-03 1.36472135e+02] [ 7.08772200e-01 7.05430870e-01 -3.04234219e-03 5.25496746e+01] [ 4.28564046e-03 6.76385693e-06 9.99990817e-01 4.41268635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.738623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:136.49, Y:52.57, Z:0.44 [[ 7.03931661e-01 -7.10261297e-01 -3.01779142e-03 1.36490321e+02] [ 7.10254778e-01 7.03938130e-01 -3.04297454e-03 5.25705504e+01] [ 4.28564549e-03 -1.35464611e-06 9.99990817e-01 4.40695858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.51, Y:52.59, Z:0.44 [[ 7.02487319e-01 -7.11689865e-01 -3.01718876e-03 1.36507913e+02] [ 7.11683357e-01 7.02493798e-01 -3.04357198e-03 5.25905464e+01] [ 4.28563572e-03 -9.21230131e-06 9.99990817e-01 4.39943637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:52.61, Z:0.44 [[ 7.01146756e-01 -7.13010607e-01 -3.01672013e-03 1.36526039e+02] [ 7.13004109e-01 7.01153246e-01 -3.04403640e-03 5.26111841e+01] [ 4.28561335e-03 -1.66176044e-05 9.99990817e-01 4.39376895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:52.63, Z:0.44 [[ 6.99933954e-01 -7.14201206e-01 -3.01611949e-03 1.36543672e+02] [ 7.14194717e-01 6.99940452e-01 -3.04463142e-03 5.26309803e+01] [ 4.28558347e-03 -2.30556973e-05 9.99990817e-01 4.38160874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.56, Y:52.65, Z:0.44 [[ 6.97849675e-01 -7.16237905e-01 -3.01565461e-03 1.36561470e+02] [ 7.16231433e-01 6.97856190e-01 -3.04509180e-03 5.26521966e+01] [ 4.28550341e-03 -3.48902943e-05 9.99990817e-01 4.38553364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:52.67, Z:0.44 [[ 6.96901069e-01 -7.17160937e-01 -3.01505854e-03 1.36578811e+02] [ 7.17154470e-01 6.96907590e-01 -3.04568188e-03 5.26714258e+01] [ 4.28546125e-03 -3.97237566e-05 9.99990817e-01 4.39671568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:52.69, Z:0.44 [[ 6.95917380e-01 -7.18115530e-01 -3.01443328e-03 1.36596436e+02] [ 7.18109070e-01 6.95923907e-01 -3.04630060e-03 5.26910625e+01] [ 4.28541195e-03 -4.47183471e-05 9.99990817e-01 4.40273818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.61, Y:52.71, Z:0.44 [[ 6.94320917e-01 -7.19659212e-01 -3.01381097e-03 1.36612316e+02] [ 7.19652764e-01 6.94327456e-01 -3.04691615e-03 5.27102898e+01] [ 4.28531298e-03 -5.33597818e-05 9.99990817e-01 4.41474778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:52.73, Z:0.44 [[ 6.93627388e-01 -7.20327681e-01 -3.01312676e-03 1.36629918e+02] [ 7.20321236e-01 6.93633930e-01 -3.04759262e-03 5.27293433e+01] [ 4.28527228e-03 -5.65254879e-05 9.99990817e-01 4.42009326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.65, Y:52.75, Z:0.44 [[ 6.93048366e-01 -7.20884795e-01 -3.01247984e-03 1.36648100e+02] [ 7.20878353e-01 6.93054910e-01 -3.04823195e-03 5.27484798e+01] [ 4.28523801e-03 -5.90593346e-05 9.99990817e-01 4.42030992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:52.77, Z:0.44 [[ 6.92652411e-01 -7.21265254e-01 -3.01183256e-03 1.36665530e+02] [ 7.21258812e-01 6.92658957e-01 -3.04887136e-03 5.27669569e+01] [ 4.28521778e-03 -6.05026775e-05 9.99990817e-01 4.39282323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:136.68, Y:52.79, Z:0.45 [[ 6.92793233e-01 -7.21129995e-01 -3.01115704e-03 1.36683137e+02] [ 7.21123549e-01 6.92799774e-01 -3.04953839e-03 5.27869309e+01] [ 4.28524252e-03 -5.87166898e-05 9.99990817e-01 4.45716133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:52.81, Z:0.44 [[ 6.92831646e-01 -7.21093091e-01 -3.01051891e-03 1.36703070e+02] [ 7.21086643e-01 6.92838185e-01 -3.05016822e-03 5.28063456e+01] [ 4.28525769e-03 -5.75918994e-05 9.99990817e-01 4.39186206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:52.83, Z:0.44 [[ 6.92871552e-01 -7.21054750e-01 -3.00993398e-03 1.36721668e+02] [ 7.21048298e-01 6.92878088e-01 -3.05074532e-03 5.28264944e+01] [ 4.28527171e-03 -5.65331302e-05 9.99990817e-01 4.36379176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.74, Y:52.85, Z:0.44 [[ 6.93083528e-01 -7.20851002e-01 -3.00931711e-03 1.36739943e+02] [ 7.20844546e-01 6.93090059e-01 -3.05135370e-03 5.28458821e+01] [ 4.28529914e-03 -5.44068347e-05 9.99990817e-01 4.36494795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18862385300002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:136.76, Y:52.87, Z:0.45 [[ 6.93911371e-01 -7.20054135e-01 -3.00868023e-03 1.36757785e+02] [ 7.20047668e-01 6.93917892e-01 -3.05198154e-03 5.28666013e+01] [ 4.28536897e-03 -4.85884897e-05 9.99990817e-01 4.46500286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:52.89, Z:0.44 [[ 6.94195875e-01 -7.19779855e-01 -3.00805962e-03 1.36777295e+02] [ 7.19773383e-01 6.94202390e-01 -3.05259310e-03 5.28854846e+01] [ 4.28539719e-03 -4.60237071e-05 9.99990817e-01 4.41205484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:52.90, Z:0.44 [[ 6.95589083e-01 -7.18433562e-01 -3.00741146e-03 1.36795562e+02] [ 7.18427075e-01 6.95595583e-01 -3.05323153e-03 5.29045215e+01] [ 4.28548613e-03 -3.68113044e-05 9.99990817e-01 4.42914238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:52.92, Z:0.44 [[ 6.96402828e-01 -7.17644802e-01 -3.00673119e-03 1.36813693e+02] [ 7.17638304e-01 6.96409318e-01 -3.05390129e-03 5.29234976e+01] [ 4.28553200e-03 -3.09999750e-05 9.99990817e-01 4.43433907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.83, Y:52.94, Z:0.45 [[ 6.97332419e-01 -7.16741558e-01 -3.00605800e-03 1.36832402e+02] [ 7.16735049e-01 6.97338898e-01 -3.05456379e-03 5.29433218e+01] [ 4.28557398e-03 -2.45007687e-05 9.99990817e-01 4.45738807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:52.96, Z:0.45 [[ 6.98531108e-01 -7.15573378e-01 -3.00542046e-03 1.36850568e+02] [ 7.15566856e-01 6.98537573e-01 -3.05519095e-03 5.29621712e+01] [ 4.28561242e-03 -1.64333544e-05 9.99990817e-01 4.45684006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.87, Y:52.98, Z:0.45 [[ 7.00923116e-01 -7.13230508e-01 -3.00475161e-03 1.36868032e+02] [ 7.13223961e-01 7.00929556e-01 -3.05584861e-03 5.29824351e+01] [ 4.28564367e-03 -1.14591540e-06 9.99990817e-01 4.45833597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:53.00, Z:0.45 [[ 7.01956405e-01 -7.12213578e-01 -3.00412882e-03 1.36886220e+02] [ 7.12207019e-01 7.01962833e-01 -3.05646074e-03 5.30022744e+01] [ 4.28563962e-03 5.94056561e-06 9.99990817e-01 4.45170765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.90, Y:53.02, Z:0.44 [[ 7.02730694e-01 -7.11449612e-01 -3.00350482e-03 1.36904616e+02] [ 7.11443044e-01 7.02737112e-01 -3.05707381e-03 5.30217906e+01] [ 4.28562828e-03 1.14769864e-05 9.99990817e-01 4.44911730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.458623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:136.92, Y:53.04, Z:0.44 [[ 7.03498601e-01 -7.10690299e-01 -3.00288456e-03 1.36923148e+02] [ 7.10683721e-01 7.03505010e-01 -3.05768295e-03 5.30404138e+01] [ 4.28560994e-03 1.69745007e-05 9.99990817e-01 4.43791949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.94, Y:53.06, Z:0.44 [[ 7.03308958e-01 -7.10877976e-01 -3.00223183e-03 1.36941354e+02] [ 7.10871397e-01 7.03315366e-01 -3.05832371e-03 5.30590073e+01] [ 4.28561074e-03 1.67457262e-05 9.99990817e-01 4.43647727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:53.08, Z:0.44 [[ 7.02956262e-01 -7.11226746e-01 -3.00158375e-03 1.36960432e+02] [ 7.11220168e-01 7.02962670e-01 -3.05895963e-03 5.30785068e+01] [ 4.28561523e-03 1.55279308e-05 9.99990817e-01 4.44121431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:53.10, Z:0.44 [[ 7.02775986e-01 -7.11404883e-01 -3.00097103e-03 1.36979866e+02] [ 7.11398304e-01 7.02782394e-01 -3.05956062e-03 5.30973562e+01] [ 4.28561597e-03 1.53000367e-05 9.99990817e-01 4.44924100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:53.12, Z:0.45 [[ 7.02620691e-01 -7.11558264e-01 -3.00035839e-03 1.37000133e+02] [ 7.11551684e-01 7.02627097e-01 -3.06016129e-03 5.31167698e+01] [ 4.28561616e-03 1.52225743e-05 9.99990817e-01 4.46628528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.02, Y:53.14, Z:0.45 [[ 7.02859045e-01 -7.11322827e-01 -2.99977572e-03 1.37019760e+02] [ 7.11316242e-01 7.02865446e-01 -3.06073235e-03 5.31373924e+01] [ 4.28560749e-03 1.74742256e-05 9.99990817e-01 4.47032466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.04, Y:53.16, Z:0.45 [[ 7.03343255e-01 -7.10844055e-01 -2.99919376e-03 1.37038479e+02] [ 7.10837463e-01 7.03349650e-01 -3.06130250e-03 5.31574844e+01] [ 4.28559057e-03 2.12071819e-05 9.99990817e-01 4.47434752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:53.18, Z:0.45 [[ 7.03898344e-01 -7.10294396e-01 -2.99858056e-03 1.37056762e+02] [ 7.10287797e-01 7.03904731e-01 -3.06190302e-03 5.31767933e+01] [ 4.28556760e-03 2.54132846e-05 9.99990817e-01 4.47741502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.08, Y:53.20, Z:0.45 [[ 7.05782986e-01 -7.08421760e-01 -2.99797085e-03 1.37075470e+02] [ 7.08415141e-01 7.05789352e-01 -3.06249989e-03 5.31971774e+01] [ 4.28547746e-03 3.76523737e-05 9.99990817e-01 4.48097575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:53.22, Z:0.45 [[ 7.06912751e-01 -7.07294406e-01 -2.99740281e-03 1.37094250e+02] [ 7.07287775e-01 7.06919105e-01 -3.06305576e-03 5.32183590e+01] [ 4.28540351e-03 4.52868096e-05 9.99990817e-01 4.47950216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.11, Y:53.24, Z:0.45 [[ 7.07963602e-01 -7.06242562e-01 -2.99683516e-03 1.37112897e+02] [ 7.06235920e-01 7.07969943e-01 -3.06361102e-03 5.32398441e+01] [ 4.28532172e-03 5.24524595e-05 9.99990817e-01 4.47072797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.13, Y:53.26, Z:0.45 [[ 7.09171125e-01 -7.05030026e-01 -2.99627069e-03 1.37131502e+02] [ 7.05023370e-01 7.09177452e-01 -3.06416299e-03 5.32612015e+01] [ 4.28521453e-03 6.05750549e-05 9.99990817e-01 4.46320318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.15, Y:53.28, Z:0.45 [[ 7.11861495e-01 -7.02313490e-01 -2.99570970e-03 1.37148042e+02] [ 7.02306807e-01 7.11867794e-01 -3.06471135e-03 5.32833485e+01] [ 4.28493738e-03 7.77426866e-05 9.99990817e-01 4.47192944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.17, Y:53.30, Z:0.45 [[ 7.13143426e-01 -7.01011757e-01 -2.99511590e-03 1.37165388e+02] [ 7.01005060e-01 7.13149710e-01 -3.06529156e-03 5.33039922e+01] [ 4.28477146e-03 8.64011187e-05 9.99990817e-01 4.48208342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:137.18, Y:53.33, Z:0.45 [[ 7.14226035e-01 -6.99908711e-01 -2.99452945e-03 1.37183372e+02] [ 6.99902002e-01 7.14232307e-01 -3.06586436e-03 5.33254632e+01] [ 4.28461485e-03 9.38429855e-05 9.99990817e-01 4.48759256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:53.35, Z:0.45 [[ 7.15044439e-01 -6.99072590e-01 -2.99398042e-03 1.37201592e+02] [ 6.99065872e-01 7.15050700e-01 -3.06640043e-03 5.33470367e+01] [ 4.28448428e-03 9.96230414e-05 9.99990817e-01 4.48832107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.22, Y:53.37, Z:0.45 [[ 7.15459834e-01 -6.98647454e-01 -2.99343455e-03 1.37217070e+02] [ 6.98640730e-01 7.15466089e-01 -3.06693321e-03 5.33686698e+01] [ 4.28440599e-03 1.02932226e-04 9.99990817e-01 4.47614401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.23, Y:53.39, Z:0.45 [[ 7.15166450e-01 -6.98947775e-01 -2.99278784e-03 1.37234689e+02] [ 6.98941051e-01 7.15172705e-01 -3.06756416e-03 5.33896143e+01] [ 4.28442732e-03 1.02036689e-04 9.99990817e-01 4.47111762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.25, Y:53.41, Z:0.45 [[ 7.14383643e-01 -6.99747853e-01 -2.99217785e-03 1.37250824e+02] [ 6.99741133e-01 7.14389902e-01 -3.06815904e-03 5.34098101e+01] [ 4.28451934e-03 9.80927105e-05 9.99990817e-01 4.46237496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.27, Y:53.43, Z:0.45 [[ 7.13419607e-01 -7.00730701e-01 -2.99153837e-03 1.37267922e+02] [ 7.00723988e-01 7.13425873e-01 -3.06878243e-03 5.34307889e+01] [ 4.28463093e-03 9.30868620e-05 9.99990817e-01 4.45984123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.29, Y:53.45, Z:0.45 [[ 7.12064365e-01 -7.02107823e-01 -2.99093172e-03 1.37285573e+02] [ 7.02101119e-01 7.12070641e-01 -3.06937358e-03 5.34518517e+01] [ 4.28478586e-03 8.56550395e-05 9.99990817e-01 4.45860383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:53.47, Z:0.45 [[ 7.08602836e-01 -7.05601218e-01 -2.99032789e-03 1.37301489e+02] [ 7.05594543e-01 7.08609142e-01 -3.06996174e-03 5.34730208e+01] [ 4.28514242e-03 6.54245520e-05 9.99990817e-01 4.45536052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:53.49, Z:0.45 [[ 7.06782674e-01 -7.07424423e-01 -2.98969514e-03 1.37319237e+02] [ 7.07417761e-01 7.06788995e-01 -3.07057782e-03 5.34934837e+01] [ 4.28528537e-03 5.52677619e-05 9.99990817e-01 4.45502359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.34, Y:53.52, Z:0.45 [[ 7.02895833e-01 -7.11286520e-01 -2.98909678e-03 1.37337294e+02] [ 7.11279890e-01 7.02902188e-01 -3.07116020e-03 5.35154804e+01] [ 4.28551751e-03 3.26212796e-05 9.99990817e-01 4.46114862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.178623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.35, Y:53.54, Z:0.45 [[ 7.00962189e-01 -7.13192175e-01 -2.98851327e-03 1.37354947e+02] [ 7.13185560e-01 7.00968560e-01 -3.07172790e-03 5.35352751e+01] [ 4.28558614e-03 2.18006011e-05 9.99990817e-01 4.46126123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.37, Y:53.56, Z:0.45 [[ 6.99185212e-01 -7.14934340e-01 -2.98803958e-03 1.37373389e+02] [ 7.14927739e-01 6.99191597e-01 -3.07218861e-03 5.35557106e+01] [ 4.28562530e-03 1.17964595e-05 9.99990817e-01 4.46699525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.238623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.39, Y:53.58, Z:0.45 [[ 6.97616176e-01 -7.16465453e-01 -2.98745756e-03 1.37392057e+02] [ 7.16458864e-01 6.97622573e-01 -3.07275447e-03 5.35765137e+01] [ 4.28564026e-03 3.21277228e-06 9.99990817e-01 4.47225465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:53.60, Z:0.45 [[ 6.96038479e-01 -7.17998269e-01 -2.98686939e-03 1.37409515e+02] [ 7.17991691e-01 6.96044888e-01 -3.07332610e-03 5.35966810e+01] [ 4.28563799e-03 -5.39417718e-06 9.99990817e-01 4.46845488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.298623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:137.43, Y:53.62, Z:0.46 [[ 6.94250867e-01 -7.19726904e-01 -2.98624784e-03 1.37426450e+02] [ 7.19720340e-01 6.94257289e-01 -3.07392992e-03 5.36195876e+01] [ 4.28561439e-03 -1.51847974e-05 9.99990817e-01 4.55467826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.328623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.45, Y:53.64, Z:0.45 [[ 6.93341070e-01 -7.20603390e-01 -2.98566284e-03 1.37445210e+02] [ 7.20596832e-01 6.93347498e-01 -3.07449801e-03 5.36396218e+01] [ 4.28559556e-03 -1.97834411e-05 9.99990817e-01 4.48942644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:53.66, Z:0.45 [[ 6.92570869e-01 -7.21343663e-01 -2.98504421e-03 1.37463631e+02] [ 7.21337109e-01 6.92577302e-01 -3.07509853e-03 5.36606084e+01] [ 4.28557670e-03 -2.34995052e-05 9.99990817e-01 4.49516903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.48, Y:53.68, Z:0.45 [[ 6.92027557e-01 -7.21864913e-01 -2.98445135e-03 1.37481479e+02] [ 7.21858361e-01 6.92033992e-01 -3.07567380e-03 5.36815978e+01] [ 4.28556279e-03 -2.59001354e-05 9.99990817e-01 4.49997749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:53.70, Z:0.45 [[ 6.91579809e-01 -7.22293891e-01 -2.98382294e-03 1.37498967e+02] [ 7.22287340e-01 6.91586245e-01 -3.07628333e-03 5.37024391e+01] [ 4.28555156e-03 -2.76820955e-05 9.99990817e-01 4.49290908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:53.72, Z:0.45 [[ 6.91429019e-01 -7.22438241e-01 -2.98319806e-03 1.37518047e+02] [ 7.22431690e-01 6.91435454e-01 -3.07688918e-03 5.37224658e+01] [ 4.28555131e-03 -2.77063472e-05 9.99990817e-01 4.49409399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.54, Y:53.74, Z:0.45 [[ 6.90649551e-01 -7.23183450e-01 -2.98255564e-03 1.37535638e+02] [ 7.23176902e-01 6.90655990e-01 -3.07751178e-03 5.37448419e+01] [ 4.28552550e-03 -3.14332177e-05 9.99990817e-01 4.47648247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:53.76, Z:0.45 [[ 6.90300715e-01 -7.23516435e-01 -2.98198153e-03 1.37552983e+02] [ 7.23509888e-01 6.90307155e-01 -3.07806796e-03 5.37645307e+01] [ 4.28551595e-03 -3.27006082e-05 9.99990817e-01 4.47180807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.57, Y:53.79, Z:0.45 [[ 6.90019762e-01 -7.23784387e-01 -2.98148155e-03 1.37571695e+02] [ 7.23777840e-01 6.90026203e-01 -3.07855218e-03 5.37853715e+01] [ 4.28550840e-03 -3.36684381e-05 9.99990817e-01 4.48054935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:53.81, Z:0.45 [[ 6.89772699e-01 -7.24019847e-01 -2.98088508e-03 1.37590184e+02] [ 7.24013300e-01 6.89779139e-01 -3.07912962e-03 5.38069853e+01] [ 4.28550330e-03 -3.43008959e-05 9.99990817e-01 4.48472228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:137.61, Y:53.83, Z:0.45 [[ 6.89834339e-01 -7.23961119e-01 -2.98027390e-03 1.37607138e+02] [ 7.23954569e-01 6.89840776e-01 -3.07972107e-03 5.38283043e+01] [ 4.28551277e-03 -3.30855605e-05 9.99990817e-01 4.48301853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.62, Y:53.85, Z:0.45 [[ 6.89639498e-01 -7.24146729e-01 -2.97962950e-03 1.37624679e+02] [ 7.24140178e-01 6.89645934e-01 -3.08034440e-03 5.38485609e+01] [ 4.28551069e-03 -3.33422741e-05 9.99990817e-01 4.48134287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.64, Y:53.87, Z:0.45 [[ 6.89397815e-01 -7.24376820e-01 -2.97899664e-03 1.37643063e+02] [ 7.24370269e-01 6.89404251e-01 -3.08095631e-03 5.38698286e+01] [ 4.28550628e-03 -3.38920496e-05 9.99990817e-01 4.47805575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.66, Y:53.89, Z:0.45 [[ 6.89061014e-01 -7.24697211e-01 -2.97840201e-03 1.37660161e+02] [ 7.24690660e-01 6.89067450e-01 -3.08153105e-03 5.38907586e+01] [ 4.28549683e-03 -3.50572079e-05 9.99990817e-01 4.46197599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.68, Y:53.91, Z:0.45 [[ 6.88479787e-01 -7.25249415e-01 -2.97796623e-03 1.37679263e+02] [ 7.25242868e-01 6.88486226e-01 -3.08195211e-03 5.39112868e+01] [ 4.28547270e-03 -3.78870375e-05 9.99990817e-01 4.46383926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.70, Y:53.93, Z:0.45 [[ 6.87702108e-01 -7.25986877e-01 -2.97737821e-03 1.37698643e+02] [ 7.25980334e-01 6.87708552e-01 -3.08252009e-03 5.39319959e+01] [ 4.28543759e-03 -4.16624651e-05 9.99990817e-01 4.46245346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.72, Y:53.95, Z:0.45 [[ 6.87025032e-01 -7.26627651e-01 -2.97678392e-03 1.37716866e+02] [ 7.26621112e-01 6.87031480e-01 -3.08309388e-03 5.39517273e+01] [ 4.28540553e-03 -4.48313651e-05 9.99990817e-01 4.46101133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.74, Y:53.97, Z:0.45 [[ 6.86145595e-01 -7.27458154e-01 -2.97615801e-03 1.37735507e+02] [ 7.27451619e-01 6.86152047e-01 -3.08369796e-03 5.39723894e+01] [ 4.28535814e-03 -4.91451897e-05 9.99990817e-01 4.47352931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.838623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.75, Y:53.99, Z:0.45 [[ 6.84533835e-01 -7.28975016e-01 -2.97557052e-03 1.37753732e+02] [ 7.28968494e-01 6.84540300e-01 -3.08426475e-03 5.39924035e+01] [ 4.28524988e-03 -5.78135871e-05 9.99990817e-01 4.48234991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:54.01, Z:0.45 [[ 6.83600230e-01 -7.29850584e-01 -2.97494969e-03 1.37772670e+02] [ 7.29844067e-01 6.83606700e-01 -3.08486346e-03 5.40117219e+01] [ 4.28518494e-03 -6.24360126e-05 9.99990817e-01 4.48154004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.79, Y:54.03, Z:0.45 [[ 6.82557688e-01 -7.30825667e-01 -2.97433409e-03 1.37792215e+02] [ 7.30819157e-01 6.82564165e-01 -3.08545688e-03 5.40319412e+01] [ 4.28510495e-03 -6.76980177e-05 9.99990817e-01 4.48660168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:137.81, Y:54.05, Z:0.45 [[ 6.81729133e-01 -7.31598623e-01 -2.97375616e-03 1.37811025e+02] [ 7.31592118e-01 6.81735616e-01 -3.08601379e-03 5.40506584e+01] [ 4.28503893e-03 -7.17510641e-05 9.99990817e-01 4.47875743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.83, Y:54.07, Z:0.45 [[ 6.80617497e-01 -7.32632911e-01 -2.97314733e-03 1.37830989e+02] [ 7.32626414e-01 6.80623987e-01 -3.08660024e-03 5.40703214e+01] [ 4.28494031e-03 -7.74121349e-05 9.99990817e-01 4.49015581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.988623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:137.85, Y:54.09, Z:0.45 [[ 6.78936140e-01 -7.34191312e-01 -2.97254652e-03 1.37851326e+02] [ 7.34184826e-01 6.78942642e-01 -3.08717874e-03 5.40881719e+01] [ 4.28476840e-03 -8.64013322e-05 9.99990817e-01 4.47696738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.018623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:137.87, Y:54.11, Z:0.45 [[ 6.78196672e-01 -7.34874439e-01 -2.97210877e-03 1.37870942e+02] [ 7.34867958e-01 6.78203179e-01 -3.08760012e-03 5.41069261e+01] [ 4.28469202e-03 -9.01073753e-05 9.99990817e-01 4.46347135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.048623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:137.89, Y:54.13, Z:0.45 [[ 6.77251895e-01 -7.35745228e-01 -2.97167905e-03 1.37891426e+02] [ 7.35738753e-01 6.77258408e-01 -3.08801365e-03 5.41267543e+01] [ 4.28458593e-03 -9.50163421e-05 9.99990817e-01 4.46762602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.078623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.91, Y:54.14, Z:0.45 [[ 6.76398246e-01 -7.36530098e-01 -2.97109466e-03 1.37911445e+02] [ 7.36523629e-01 6.76404764e-01 -3.08857582e-03 5.41443714e+01] [ 4.28449163e-03 -9.91741549e-05 9.99990817e-01 4.47246744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.108623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:137.93, Y:54.16, Z:0.45 [[ 6.76166259e-01 -7.36743080e-01 -2.97047798e-03 1.37931827e+02] [ 7.36736611e-01 6.76172777e-01 -3.08916880e-03 5.41634571e+01] [ 4.28448008e-03 -9.96681656e-05 9.99990817e-01 4.48263117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.138623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:137.95, Y:54.18, Z:0.45 [[ 6.76234540e-01 -7.36680410e-01 -2.96989485e-03 1.37952234e+02] [ 7.36673937e-01 6.76241054e-01 -3.08972931e-03 5.41823606e+01] [ 4.28450788e-03 -9.84624545e-05 9.99990817e-01 4.48822750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.168623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:137.97, Y:54.20, Z:0.45 [[ 6.76706163e-01 -7.36247209e-01 -2.96930101e-03 1.37971796e+02] [ 7.36240730e-01 6.76712670e-01 -3.09029990e-03 5.42004902e+01] [ 4.28458829e-03 -9.48953589e-05 9.99990817e-01 4.49336384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:137.99, Y:54.22, Z:0.45 [[ 6.78451399e-01 -7.34639290e-01 -2.96867296e-03 1.37992691e+02] [ 7.34632792e-01 6.78457889e-01 -3.09090312e-03 5.42192022e+01] [ 4.28481846e-03 -8.38569644e-05 9.99990817e-01 4.49894855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.01, Y:54.24, Z:0.45 [[ 6.79427957e-01 -7.33736221e-01 -2.96809132e-03 1.38012415e+02] [ 7.33729712e-01 6.79434436e-01 -3.09146155e-03 5.42388097e+01] [ 4.28494076e-03 -7.73513829e-05 9.99990817e-01 4.50112907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:138.03, Y:54.26, Z:0.45 [[ 6.80471861e-01 -7.32768204e-01 -2.96749868e-03 1.38031901e+02] [ 7.32761683e-01 6.80478328e-01 -3.09203032e-03 5.42575348e+01] [ 4.28506004e-03 -7.04296979e-05 9.99990817e-01 4.49782053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.05, Y:54.28, Z:0.45 [[ 6.81689954e-01 -7.31635157e-01 -2.96691057e-03 1.38051979e+02] [ 7.31628624e-01 6.81696408e-01 -3.09259452e-03 5.42765690e+01] [ 4.28518316e-03 -6.24860822e-05 9.99990817e-01 4.50479922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.07, Y:54.30, Z:0.45 [[ 6.82608940e-01 -7.30777829e-01 -2.96632052e-03 1.38071876e+02] [ 7.30771285e-01 6.82615383e-01 -3.09316038e-03 5.42961232e+01] [ 4.28526905e-03 -5.62829266e-05 9.99990817e-01 4.50239491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.09, Y:54.31, Z:0.45 [[ 6.83615016e-01 -7.29836773e-01 -2.96573380e-03 1.38090858e+02] [ 7.29830217e-01 6.83621447e-01 -3.09372283e-03 5.43147557e+01] [ 4.28535192e-03 -4.95667646e-05 9.99990817e-01 4.49634983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:138.11, Y:54.33, Z:0.45 [[ 6.85742499e-01 -7.27838191e-01 -2.96511219e-03 1.38112036e+02] [ 7.27831615e-01 6.85748909e-01 -3.09431848e-03 5.43338565e+01] [ 4.28548562e-03 -3.61967034e-05 9.99990817e-01 4.50347736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:138.13, Y:54.35, Z:0.45 [[ 6.86745646e-01 -7.26891759e-01 -2.96452375e-03 1.38131898e+02] [ 7.26885171e-01 6.86752044e-01 -3.09488214e-03 5.43538279e+01] [ 4.28553706e-03 -2.94715236e-05 9.99990817e-01 4.51082002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.15, Y:54.37, Z:0.45 [[ 6.87716139e-01 -7.25973640e-01 -2.96393198e-03 1.38151418e+02] [ 7.25967042e-01 6.87722526e-01 -3.09544876e-03 5.43739601e+01] [ 4.28557700e-03 -2.29268589e-05 9.99990817e-01 4.51579802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.17, Y:54.39, Z:0.45 [[ 6.90180151e-01 -7.23631521e-01 -2.96332797e-03 1.38170188e+02] [ 7.23624898e-01 6.90186512e-01 -3.09602688e-03 5.43927323e+01] [ 4.28563164e-03 -7.52159813e-06 9.99990817e-01 4.50846935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.19, Y:54.41, Z:0.45 [[ 6.91469649e-01 -7.22399437e-01 -2.96288732e-03 1.38189073e+02] [ 7.22392800e-01 6.91475997e-01 -3.09644853e-03 5.44118945e+01] [ 4.28563813e-03 7.31708343e-07 9.99990817e-01 4.50768338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.21, Y:54.43, Z:0.45 [[ 6.92671388e-01 -7.21247234e-01 -2.96225524e-03 1.38208220e+02] [ 7.21240585e-01 6.92677723e-01 -3.09705310e-03 5.44316926e+01] [ 4.28562919e-03 8.74136588e-06 9.99990817e-01 4.50798641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:54.45, Z:0.45 [[ 6.93673241e-01 -7.20283738e-01 -2.96166531e-03 1.38227288e+02] [ 7.20277077e-01 6.93679564e-01 -3.09761714e-03 5.44514867e+01] [ 4.28560995e-03 1.55144867e-05 9.99990817e-01 4.50706643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.25, Y:54.47, Z:0.45 [[ 6.95203917e-01 -7.18806473e-01 -2.96104214e-03 1.38245326e+02] [ 7.18799796e-01 6.95210223e-01 -3.09821272e-03 5.44705981e+01] [ 4.28556212e-03 2.54931297e-05 9.99990817e-01 4.52880061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.26, Y:54.49, Z:0.45 [[ 6.95609054e-01 -7.18414421e-01 -2.96037791e-03 1.38264082e+02] [ 7.18407738e-01 6.95615353e-01 -3.09884727e-03 5.44907641e+01] [ 4.28554089e-03 2.88278177e-05 9.99990817e-01 4.53775395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:138.28, Y:54.51, Z:0.46 [[ 6.95805764e-01 -7.18223905e-01 -2.95979434e-03 1.38282662e+02] [ 7.18217219e-01 6.95812058e-01 -3.09940455e-03 5.45119327e+01] [ 4.28552703e-03 3.08082904e-05 9.99990817e-01 4.60212491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.30, Y:54.53, Z:0.46 [[ 6.95553018e-01 -7.18468679e-01 -2.95919023e-03 1.38300930e+02] [ 7.18461992e-01 6.95559312e-01 -3.09998123e-03 5.45317047e+01] [ 4.28553173e-03 3.01355956e-05 9.99990817e-01 4.55369729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.32, Y:54.55, Z:0.46 [[ 6.95207066e-01 -7.18803438e-01 -2.95854967e-03 1.38319848e+02] [ 7.18796752e-01 6.95213360e-01 -3.10059243e-03 5.45517311e+01] [ 4.28553976e-03 2.89578713e-05 9.99990817e-01 4.56011219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.738623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:138.34, Y:54.57, Z:0.46 [[ 6.94546938e-01 -7.19441312e-01 -2.95795563e-03 1.38339224e+02] [ 7.19434629e-01 6.94553236e-01 -3.10115905e-03 5.45717254e+01] [ 4.28555959e-03 2.58448082e-05 9.99990817e-01 4.56188949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:54.59, Z:0.46 [[ 6.93009973e-01 -7.20921931e-01 -2.95736004e-03 1.38358068e+02] [ 7.20915259e-01 6.93016283e-01 -3.10172691e-03 5.45911230e+01] [ 4.28560162e-03 1.75217057e-05 9.99990817e-01 4.55517438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:54.61, Z:0.46 [[ 6.92227231e-01 -7.21673554e-01 -2.95672851e-03 1.38376862e+02] [ 7.21666886e-01 6.92233545e-01 -3.10232880e-03 5.46113242e+01] [ 4.28561531e-03 1.37434153e-05 9.99990817e-01 4.55517907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.828623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:138.40, Y:54.63, Z:0.45 [[ 6.91605998e-01 -7.22268928e-01 -2.95613889e-03 1.38395660e+02] [ 7.22262263e-01 6.91612316e-01 -3.10289054e-03 5.46319164e+01] [ 4.28562349e-03 1.08701415e-05 9.99990817e-01 4.54851616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.41, Y:54.65, Z:0.45 [[ 6.90843231e-01 -7.22998544e-01 -2.95554863e-03 1.38413553e+02] [ 7.22991883e-01 6.90849554e-01 -3.10345267e-03 5.46518504e+01] [ 4.28563121e-03 7.16160536e-06 9.99990817e-01 4.54590048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.888623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.43, Y:54.67, Z:0.46 [[ 6.90685168e-01 -7.23149547e-01 -2.95492506e-03 1.38432185e+02] [ 7.23142885e-01 6.90691489e-01 -3.10404628e-03 5.46732648e+01] [ 4.28563125e-03 7.08569463e-06 9.99990817e-01 4.55140387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.45, Y:54.69, Z:0.45 [[ 6.90628373e-01 -7.23203790e-01 -2.95432421e-03 1.38449684e+02] [ 7.23197126e-01 6.90634692e-01 -3.10461805e-03 5.46937753e+01] [ 4.28563033e-03 7.57853302e-06 9.99990817e-01 4.54402404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.47, Y:54.71, Z:0.45 [[ 6.90440372e-01 -7.23383279e-01 -2.95368871e-03 1.38466820e+02] [ 7.23376615e-01 6.90446689e-01 -3.10522253e-03 5.47141798e+01] [ 4.28563065e-03 7.34165471e-06 9.99990817e-01 4.53800029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.48, Y:54.73, Z:0.45 [[ 6.89970278e-01 -7.23831676e-01 -2.95300856e-03 1.38483636e+02] [ 7.23825013e-01 6.89976597e-01 -3.10586921e-03 5.47349968e+01] [ 4.28563331e-03 5.49598035e-06 9.99990817e-01 4.54751425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.50, Y:54.76, Z:0.46 [[ 6.89388446e-01 -7.24385846e-01 -2.95235720e-03 1.38502391e+02] [ 7.24379185e-01 6.89394768e-01 -3.10648825e-03 5.47564618e+01] [ 4.28563573e-03 2.95100089e-06 9.99990817e-01 4.55076916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:54.78, Z:0.46 [[ 6.88479342e-01 -7.25249945e-01 -2.95176484e-03 1.38521107e+02] [ 7.25243290e-01 6.88485669e-01 -3.10705101e-03 5.47778691e+01] [ 4.28563636e-03 -1.60721159e-06 9.99990817e-01 4.55551773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.54, Y:54.80, Z:0.45 [[ 6.87696259e-01 -7.25992524e-01 -2.95116416e-03 1.38539214e+02] [ 7.25985873e-01 6.87702592e-01 -3.10762144e-03 5.47981248e+01] [ 4.28563318e-03 -5.40385102e-06 9.99990817e-01 4.54244728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.56, Y:54.82, Z:0.45 [[ 6.86713751e-01 -7.26921948e-01 -2.95052911e-03 1.38557741e+02] [ 7.26915303e-01 6.86720089e-01 -3.10822427e-03 5.48185804e+01] [ 4.28562406e-03 -1.03244143e-05 9.99990817e-01 4.54205258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.58, Y:54.84, Z:0.46 [[ 6.84986836e-01 -7.28549471e-01 -2.94987621e-03 1.38575977e+02] [ 7.28542839e-01 6.84993188e-01 -3.10884379e-03 5.48399761e+01] [ 4.28559161e-03 -1.95941198e-05 9.99990817e-01 4.55243366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.59, Y:54.86, Z:0.46 [[ 6.84276645e-01 -7.29216549e-01 -2.94928971e-03 1.38594319e+02] [ 7.29209920e-01 6.84283000e-01 -3.10940009e-03 5.48608229e+01] [ 4.28557481e-03 -2.29614519e-05 9.99990817e-01 4.55889754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.61, Y:54.88, Z:0.46 [[ 6.83540677e-01 -7.29906466e-01 -2.94870549e-03 1.38612249e+02] [ 7.29899841e-01 6.83547036e-01 -3.10995401e-03 5.48818641e+01] [ 4.28555444e-03 -2.64795999e-05 9.99990817e-01 4.56158619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:138.63, Y:54.90, Z:0.46 [[ 6.82819723e-01 -7.30580957e-01 -2.94811613e-03 1.38630728e+02] [ 7.30574336e-01 6.82826086e-01 -3.11051261e-03 5.49029589e+01] [ 4.28553188e-03 -2.98986240e-05 9.99990817e-01 4.56000865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.65, Y:54.92, Z:0.46 [[ 6.81651414e-01 -7.31671144e-01 -2.94752387e-03 1.38648392e+02] [ 7.31664530e-01 6.81657785e-01 -3.11107373e-03 5.49235162e+01] [ 4.28548547e-03 -3.59308661e-05 9.99990817e-01 4.55294158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.278623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:138.67, Y:54.94, Z:0.46 [[ 6.80769037e-01 -7.32492208e-01 -2.94689676e-03 1.38667145e+02] [ 7.32485599e-01 6.80775414e-01 -3.11166764e-03 5.49443374e+01] [ 4.28544716e-03 -4.02324555e-05 9.99990817e-01 4.56007930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.69, Y:54.96, Z:0.46 [[ 6.79947918e-01 -7.33254491e-01 -2.94630779e-03 1.38685564e+02] [ 7.33247887e-01 6.79954300e-01 -3.11222520e-03 5.49647183e+01] [ 4.28540776e-03 -4.42229171e-05 9.99990817e-01 4.55793579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.70, Y:54.98, Z:0.46 [[ 6.79795676e-01 -7.33395638e-01 -2.94587769e-03 1.38704402e+02] [ 7.33389034e-01 6.79802057e-01 -3.11263226e-03 5.49849722e+01] [ 4.28540464e-03 -4.45204438e-05 9.99990817e-01 4.55912084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:138.72, Y:55.01, Z:0.46 [[ 6.78865810e-01 -7.34256452e-01 -2.94523136e-03 1.38722356e+02] [ 7.34249853e-01 6.78872197e-01 -3.11324371e-03 5.50058727e+01] [ 4.28535497e-03 -4.90609798e-05 9.99990817e-01 4.62331149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.74, Y:55.03, Z:0.46 [[ 6.76590869e-01 -7.36353261e-01 -2.94464551e-03 1.38742135e+02] [ 7.36346680e-01 6.76597274e-01 -3.11379773e-03 5.50261065e+01] [ 4.28519424e-03 -6.15128319e-05 9.99990817e-01 4.55658336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:55.05, Z:0.46 [[ 6.75400019e-01 -7.37445691e-01 -2.94404399e-03 1.38760693e+02] [ 7.37439118e-01 6.75406432e-01 -3.11436636e-03 5.50456184e+01] [ 4.28510230e-03 -6.76100980e-05 9.99990817e-01 4.55584980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:55.06, Z:0.46 [[ 6.74135609e-01 -7.38601730e-01 -2.94360549e-03 1.38778244e+02] [ 7.38595166e-01 6.74142032e-01 -3.11478076e-03 5.50643816e+01] [ 4.28499065e-03 -7.43481606e-05 9.99990817e-01 4.55213043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.488623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:138.80, Y:55.08, Z:0.45 [[ 6.72348873e-01 -7.40228567e-01 -2.94292385e-03 1.38797548e+02] [ 7.40222016e-01 6.72355309e-01 -3.11542466e-03 5.50837875e+01] [ 4.28481681e-03 -8.37647591e-05 9.99990817e-01 4.54785340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:55.10, Z:0.46 [[ 6.71512276e-01 -7.40987588e-01 -2.94228437e-03 1.38817035e+02] [ 7.40981041e-01 6.71518716e-01 -3.11602848e-03 5.51034912e+01] [ 4.28473745e-03 -8.77255608e-05 9.99990817e-01 4.55674836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:55.12, Z:0.46 [[ 6.70779266e-01 -7.41651214e-01 -2.94169083e-03 1.38836943e+02] [ 7.41644671e-01 6.70785710e-01 -3.11658872e-03 5.51238337e+01] [ 4.28466598e-03 -9.11462350e-05 9.99990817e-01 4.56026235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.578623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.86, Y:55.14, Z:0.46 [[ 6.70405200e-01 -7.41989365e-01 -2.94109471e-03 1.38855612e+02] [ 7.41982823e-01 6.70411645e-01 -3.11715117e-03 5.51428683e+01] [ 4.28463716e-03 -9.24874034e-05 9.99990817e-01 4.56340477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.608623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.87, Y:55.16, Z:0.46 [[ 6.70017226e-01 -7.42339727e-01 -2.94046430e-03 1.38874941e+02] [ 7.42333186e-01 6.70023672e-01 -3.11774573e-03 5.51629429e+01] [ 4.28460720e-03 -9.38608880e-05 9.99990817e-01 4.57041965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:55.18, Z:0.46 [[ 6.69793803e-01 -7.42541325e-01 -2.93987612e-03 1.38893562e+02] [ 7.42534783e-01 6.69800248e-01 -3.11830026e-03 5.51806974e+01] [ 4.28459656e-03 -9.43420884e-05 9.99990817e-01 4.58003232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.668623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:138.91, Y:55.20, Z:0.46 [[ 6.69815480e-01 -7.42521773e-01 -2.93918285e-03 1.38912962e+02] [ 7.42515228e-01 6.69821922e-01 -3.11895357e-03 5.51995446e+01] [ 4.28462004e-03 -9.32646379e-05 9.99990817e-01 4.58081072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.93, Y:55.22, Z:0.46 [[ 6.69759418e-01 -7.42572345e-01 -2.93852676e-03 1.38932437e+02] [ 7.42565798e-01 6.69765858e-01 -3.11957158e-03 5.52187210e+01] [ 4.28463248e-03 -9.26870279e-05 9.99990817e-01 4.58073734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:138.95, Y:55.24, Z:0.46 [[ 6.69996762e-01 -7.42358208e-01 -2.93787370e-03 1.38950508e+02] [ 7.42351656e-01 6.70003197e-01 -3.12018648e-03 5.52374351e+01] [ 4.28468081e-03 -9.04205654e-05 9.99990817e-01 4.63948775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:55.25, Z:0.46 [[ 6.70825747e-01 -7.41609189e-01 -2.93736822e-03 1.38970156e+02] [ 7.41602628e-01 6.70832172e-01 -3.12066227e-03 5.52547685e+01] [ 4.28479292e-03 -8.49394002e-05 9.99990817e-01 4.58031076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.99, Y:55.27, Z:0.46 [[ 6.71335968e-01 -7.41147350e-01 -2.93668721e-03 1.38989416e+02] [ 7.41140782e-01 6.71342386e-01 -3.12130300e-03 5.52743799e+01] [ 4.28486805e-03 -8.10556858e-05 9.99990817e-01 4.56841325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.01, Y:55.29, Z:0.46 [[ 6.72194743e-01 -7.40368562e-01 -2.93604909e-03 1.39008468e+02] [ 7.40361983e-01 6.72201151e-01 -3.12190313e-03 5.52935274e+01] [ 4.28497451e-03 -7.52122553e-05 9.99990817e-01 4.56048496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:55.31, Z:0.46 [[ 6.73214086e-01 -7.39441801e-01 -2.93541041e-03 1.39026777e+02] [ 7.39435212e-01 6.73220482e-01 -3.12250355e-03 5.53121349e+01] [ 4.28508806e-03 -6.84324416e-05 9.99990817e-01 4.55597329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:55.33, Z:0.46 [[ 6.75965855e-01 -7.36927099e-01 -2.93491507e-03 1.39045924e+02] [ 7.36920484e-01 6.75972224e-01 -3.12296906e-03 5.53294377e+01] [ 4.28532160e-03 -5.17785792e-05 9.99990817e-01 4.56616970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:55.35, Z:0.46 [[ 6.77435758e-01 -7.35576089e-01 -2.93442136e-03 1.39064993e+02] [ 7.35569459e-01 6.77442112e-01 -3.12343289e-03 5.53487809e+01] [ 4.28542316e-03 -4.25456058e-05 9.99990817e-01 4.57958673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:55.37, Z:0.46 [[ 6.79174981e-01 -7.33970530e-01 -2.93379230e-03 1.39084194e+02] [ 7.33963882e-01 6.79181316e-01 -3.12402364e-03 5.53682097e+01] [ 4.28551821e-03 -3.15388894e-05 9.99990817e-01 4.59687955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:55.39, Z:0.46 [[ 6.80932978e-01 -7.32339864e-01 -2.93313808e-03 1.39101999e+02] [ 7.32333198e-01 6.80939295e-01 -3.12463777e-03 5.53869255e+01] [ 4.28558578e-03 -2.03654840e-05 9.99990817e-01 4.60226163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.12, Y:55.41, Z:0.46 [[ 6.82730173e-01 -7.30664705e-01 -2.93245052e-03 1.39119546e+02] [ 7.30658022e-01 6.82736471e-01 -3.12528291e-03 5.54060053e+01] [ 4.28562483e-03 -8.89355571e-06 9.99990817e-01 4.60414335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.14, Y:55.43, Z:0.46 [[ 6.84583690e-01 -7.28928375e-01 -2.93179051e-03 1.39138060e+02] [ 7.28921672e-01 6.84589968e-01 -3.12590194e-03 5.54265558e+01] [ 4.28563299e-03 2.89584169e-06 9.99990817e-01 4.61544886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:55.45, Z:0.46 [[ 6.88367309e-01 -7.25356365e-01 -2.93119042e-03 1.39155828e+02] [ 7.25349628e-01 6.88373549e-01 -3.12646455e-03 5.54474800e+01] [ 4.28555491e-03 2.60181080e-05 9.99990817e-01 4.60644756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.17, Y:55.47, Z:0.46 [[ 6.90104343e-01 -7.23703951e-01 -2.93055651e-03 1.39174914e+02] [ 7.23697196e-01 6.90110564e-01 -3.12705862e-03 5.54685028e+01] [ 4.28547268e-03 3.71612101e-05 9.99990817e-01 4.60897166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:55.49, Z:0.46 [[ 6.91550073e-01 -7.22322581e-01 -2.92996983e-03 1.39193854e+02] [ 7.22315812e-01 6.91556279e-01 -3.12760822e-03 5.54893423e+01] [ 4.28538108e-03 4.65341553e-05 9.99990817e-01 4.60501828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:55.51, Z:0.46 [[ 6.94166826e-01 -7.19808194e-01 -2.92938620e-03 1.39210731e+02] [ 7.19801400e-01 6.94173004e-01 -3.12815477e-03 5.55094249e+01] [ 4.28517225e-03 6.28849844e-05 9.99990817e-01 4.59492700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:55.53, Z:0.46 [[ 6.95145653e-01 -7.18862951e-01 -2.92887628e-03 1.39228994e+02] [ 7.18856147e-01 6.95151820e-01 -3.12863214e-03 5.55312758e+01] [ 4.28507140e-03 6.94143147e-05 9.99990817e-01 4.61291945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:55.55, Z:0.46 [[ 6.95936434e-01 -7.18097420e-01 -2.92827097e-03 1.39246181e+02] [ 7.18090606e-01 6.95942590e-01 -3.12919857e-03 5.55519974e+01] [ 4.28497791e-03 7.49594162e-05 9.99990817e-01 4.59711696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:55.57, Z:0.46 [[ 6.96720618e-01 -7.17336608e-01 -2.92763115e-03 1.39262613e+02] [ 7.17329785e-01 6.96726765e-01 -3.12979707e-03 5.55721249e+01] [ 4.28487699e-03 8.05171247e-05 9.99990817e-01 4.59230548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:55.59, Z:0.46 [[ 6.97162652e-01 -7.16907016e-01 -2.92697453e-03 1.39280344e+02] [ 7.16900186e-01 6.97168792e-01 -3.13041101e-03 5.55936164e+01] [ 4.28480891e-03 8.40570596e-05 9.99990817e-01 4.61679635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.30, Y:55.62, Z:0.46 [[ 6.97743810e-01 -7.16341407e-01 -2.92637532e-03 1.39296823e+02] [ 7.16334570e-01 6.97749941e-01 -3.13097107e-03 5.56156826e+01] [ 4.28472243e-03 8.83518708e-05 9.99990817e-01 4.61409748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:55.64, Z:0.46 [[ 6.97578557e-01 -7.16502336e-01 -2.92573992e-03 1.39314337e+02] [ 7.16495498e-01 6.97584687e-01 -3.13156471e-03 5.56371139e+01] [ 4.28472479e-03 8.82329079e-05 9.99990817e-01 4.63009756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:55.66, Z:0.46 [[ 6.97225783e-01 -7.16845626e-01 -2.92515135e-03 1.39331112e+02] [ 7.16838788e-01 6.97231914e-01 -3.13211439e-03 5.56583616e+01] [ 4.28475137e-03 8.69289550e-05 9.99990817e-01 4.62637218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:55.68, Z:0.46 [[ 6.96756420e-01 -7.17301846e-01 -2.92452755e-03 1.39348444e+02] [ 7.17295011e-01 6.96762552e-01 -3.13269673e-03 5.56799393e+01] [ 4.28479043e-03 8.49775357e-05 9.99990817e-01 4.63290682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:55.70, Z:0.46 [[ 6.95620979e-01 -7.18403023e-01 -2.92394781e-03 1.39363679e+02] [ 7.18396195e-01 6.95627120e-01 -3.13323775e-03 5.57025977e+01] [ 4.28490487e-03 7.89929354e-05 9.99990817e-01 4.61051984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.38, Y:55.72, Z:0.46 [[ 6.94799013e-01 -7.19198015e-01 -2.92333594e-03 1.39381575e+02] [ 7.19191192e-01 6.94805159e-01 -3.13380853e-03 5.57248612e+01] [ 4.28497776e-03 7.49296143e-05 9.99990817e-01 4.62810033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.40, Y:55.75, Z:0.46 [[ 6.93946952e-01 -7.20020198e-01 -2.92277258e-03 1.39398538e+02] [ 7.20013379e-01 6.93953103e-01 -3.13433386e-03 5.57459263e+01] [ 4.28505079e-03 7.06260714e-05 9.99990817e-01 4.62173757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:55.77, Z:0.46 [[ 6.93130288e-01 -7.20806399e-01 -2.92213649e-03 1.39415752e+02] [ 7.20799585e-01 6.93136444e-01 -3.13492677e-03 5.57669703e+01] [ 4.28511458e-03 6.66379271e-05 9.99990817e-01 4.60028052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:55.79, Z:0.46 [[ 6.91413611e-01 -7.22453240e-01 -2.92152020e-03 1.39430497e+02] [ 7.22446438e-01 6.91419781e-01 -3.13550101e-03 5.57884602e+01] [ 4.28524971e-03 5.72862113e-05 9.99990817e-01 4.60466439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:139.45, Y:55.81, Z:0.47 [[ 6.90403082e-01 -7.23419002e-01 -2.92105122e-03 1.39447937e+02] [ 7.23412206e-01 6.90409259e-01 -3.13593785e-03 5.58109940e+01] [ 4.28531784e-03 5.19370527e-05 9.99990817e-01 4.68419502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:55.83, Z:0.46 [[ 6.89360296e-01 -7.24412764e-01 -2.92046726e-03 1.39466528e+02] [ 7.24405976e-01 6.89366481e-01 -3.13648159e-03 5.58325845e+01] [ 4.28537954e-03 4.65619466e-05 9.99990817e-01 4.63546491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.48, Y:55.85, Z:0.46 [[ 6.88280642e-01 -7.25438648e-01 -2.91987384e-03 1.39483270e+02] [ 7.25431867e-01 6.88286834e-01 -3.13703393e-03 5.58535441e+01] [ 4.28543638e-03 4.09901996e-05 9.99990817e-01 4.62101463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:55.88, Z:0.46 [[ 6.85900604e-01 -7.27689384e-01 -2.91924738e-03 1.39499413e+02] [ 7.27682620e-01 6.85906816e-01 -3.13761679e-03 5.58754627e+01] [ 4.28554210e-03 2.78076682e-05 9.99990817e-01 4.62873286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:55.90, Z:0.46 [[ 6.84649503e-01 -7.28866613e-01 -2.91861858e-03 1.39516055e+02] [ 7.28859858e-01 6.84655723e-01 -3.13820159e-03 5.58950816e+01] [ 4.28557928e-03 2.13042299e-05 9.99990817e-01 4.63133425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:139.53, Y:55.92, Z:0.47 [[ 6.82921719e-01 -7.30485736e-01 -2.91795528e-03 1.39532488e+02] [ 7.30478993e-01 6.82927953e-01 -3.13881822e-03 5.59165390e+01] [ 4.28561516e-03 1.20620983e-05 9.99990817e-01 4.69387785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.55, Y:55.94, Z:0.46 [[ 6.81660067e-01 -7.31663203e-01 -2.91730156e-03 1.39550625e+02] [ 7.31656468e-01 6.81666309e-01 -3.13942569e-03 5.59374234e+01] [ 4.28562844e-03 5.55857052e-06 9.99990817e-01 4.64950665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.57, Y:55.96, Z:0.47 [[ 6.78430494e-01 -7.34658804e-01 -2.91670627e-03 1.39567704e+02] [ 7.34652094e-01 6.78436763e-01 -3.13997865e-03 5.59594814e+01] [ 4.28561372e-03 -1.25070977e-05 9.99990817e-01 4.65735765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.59, Y:55.98, Z:0.46 [[ 6.76763646e-01 -7.36194583e-01 -2.91608860e-03 1.39585628e+02] [ 7.36187884e-01 6.76769928e-01 -3.14055217e-03 5.59794326e+01] [ 4.28557857e-03 -2.13775617e-05 9.99990817e-01 4.64037526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.60, Y:56.00, Z:0.47 [[ 6.75153280e-01 -7.37671707e-01 -2.91563841e-03 1.39604457e+02] [ 7.37665020e-01 6.75159575e-01 -3.14097007e-03 5.60004922e+01] [ 4.28552594e-03 -3.01282230e-05 9.99990817e-01 4.65761793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:139.62, Y:56.02, Z:0.46 [[ 6.72519230e-01 -7.40073907e-01 -2.91503331e-03 1.39622314e+02] [ 7.40067240e-01 6.72525546e-01 -3.14153154e-03 5.60209236e+01] [ 4.28539989e-03 -4.45802850e-05 9.99990817e-01 4.64810899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.898623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:139.64, Y:56.04, Z:0.47 [[ 6.71172058e-01 -7.41295876e-01 -2.91439612e-03 1.39639595e+02] [ 7.41289218e-01 6.71178383e-01 -3.14212254e-03 5.60421741e+01] [ 4.28532216e-03 -5.15055708e-05 9.99990817e-01 4.71707079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:139.66, Y:56.06, Z:0.47 [[ 6.70572869e-01 -7.41837945e-01 -2.91376888e-03 1.39658699e+02] [ 7.41831290e-01 6.70579197e-01 -3.14270409e-03 5.60619152e+01] [ 4.28528995e-03 -5.41128286e-05 9.99990817e-01 4.65895259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.958623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:139.68, Y:56.08, Z:0.47 [[ 6.69757848e-01 -7.42573861e-01 -2.91314279e-03 1.39676035e+02] [ 7.42567210e-01 6.69764181e-01 -3.14328434e-03 5.60826474e+01] [ 4.28523949e-03 -5.79649625e-05 9.99990817e-01 4.66278542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.988623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:139.69, Y:56.10, Z:0.47 [[ 6.68746683e-01 -7.43484627e-01 -2.91251606e-03 1.39693741e+02] [ 7.43477983e-01 6.68753023e-01 -3.14386495e-03 5.61016614e+01] [ 4.28516918e-03 -6.29423057e-05 9.99990817e-01 4.66842807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:56.12, Z:0.47 [[ 6.68084062e-01 -7.44080108e-01 -2.91185993e-03 1.39712755e+02] [ 7.44073467e-01 6.68090405e-01 -3.14447255e-03 5.61215999e+01] [ 4.28512515e-03 -6.58657139e-05 9.99990817e-01 4.66852748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:56.14, Z:0.47 [[ 6.67594692e-01 -7.44519209e-01 -2.91124268e-03 1.39732412e+02] [ 7.44512569e-01 6.67601036e-01 -3.14504392e-03 5.61415753e+01] [ 4.28509423e-03 -6.78421405e-05 9.99990817e-01 4.68653135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:56.16, Z:0.47 [[ 6.66852233e-01 -7.45184291e-01 -2.91064425e-03 1.39751094e+02] [ 7.45177655e-01 6.66858581e-01 -3.14559764e-03 5.61614810e+01] [ 4.28503805e-03 -7.12982444e-05 9.99990817e-01 4.67105482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.108623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:139.77, Y:56.18, Z:0.47 [[ 6.66260187e-01 -7.45713681e-01 -2.91020568e-03 1.39769996e+02] [ 7.45707048e-01 6.66266539e-01 -3.14600334e-03 5.61814560e+01] [ 4.28499040e-03 -7.41041166e-05 9.99990817e-01 4.68814509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.138623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:139.79, Y:56.20, Z:0.47 [[ 6.65442850e-01 -7.46443131e-01 -2.90958231e-03 1.39789059e+02] [ 7.46436503e-01 6.65449206e-01 -3.14657976e-03 5.62010224e+01] [ 4.28492209e-03 -7.79494381e-05 9.99990817e-01 4.65936370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:139.81, Y:56.22, Z:0.47 [[ 6.65099203e-01 -7.46749348e-01 -2.90892233e-03 1.39807354e+02] [ 7.46742720e-01 6.65105559e-01 -3.14718978e-03 5.62201578e+01] [ 4.28490233e-03 -7.90231576e-05 9.99990817e-01 4.65631149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.83, Y:56.24, Z:0.47 [[ 6.64919024e-01 -7.46909790e-01 -2.90825362e-03 1.39825534e+02] [ 7.46903161e-01 6.64925379e-01 -3.14780760e-03 5.62389697e+01] [ 4.28489995e-03 -7.91466634e-05 9.99990817e-01 4.65891861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:56.26, Z:0.47 [[ 6.64804818e-01 -7.47011446e-01 -2.90758813e-03 1.39844324e+02] [ 7.47004815e-01 6.64811171e-01 -3.14842218e-03 5.62582068e+01] [ 4.28490448e-03 -7.88960976e-05 9.99990817e-01 4.67795038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:56.28, Z:0.47 [[ 6.64649228e-01 -7.47149887e-01 -2.90693206e-03 1.39862910e+02] [ 7.47143255e-01 6.64655580e-01 -3.14902782e-03 5.62786854e+01] [ 4.28490439e-03 -7.88957737e-05 9.99990817e-01 4.67913526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:139.88, Y:56.30, Z:0.47 [[ 6.64896618e-01 -7.46929743e-01 -2.90627609e-03 1.39882061e+02] [ 7.46923106e-01 6.64902966e-01 -3.14963309e-03 5.62959982e+01] [ 4.28494623e-03 -7.65843727e-05 9.99990817e-01 4.67034777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31862385300002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:139.90, Y:56.32, Z:0.47 [[ 6.64977637e-01 -7.46857617e-01 -2.90558718e-03 1.39900732e+02] [ 7.46850977e-01 6.64983980e-01 -3.15026850e-03 5.63150768e+01] [ 4.28497095e-03 -7.51825254e-05 9.99990817e-01 4.68877565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:139.92, Y:56.33, Z:0.47 [[ 6.65057748e-01 -7.46786284e-01 -2.90493304e-03 1.39919229e+02] [ 7.46779640e-01 6.65064088e-01 -3.15087158e-03 5.63340101e+01] [ 4.28499432e-03 -7.38332918e-05 9.99990817e-01 4.67159918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:139.94, Y:56.35, Z:0.47 [[ 6.65121155e-01 -7.46729814e-01 -2.90424904e-03 1.39938605e+02] [ 7.46723167e-01 6.65127492e-01 -3.15150192e-03 5.63541117e+01] [ 4.28501632e-03 -7.25394418e-05 9.99990817e-01 4.69109917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:139.96, Y:56.37, Z:0.47 [[ 6.65345622e-01 -7.46529820e-01 -2.90365037e-03 1.39958985e+02] [ 7.46523169e-01 6.65351955e-01 -3.15205341e-03 5.63729589e+01] [ 4.28505131e-03 -7.04373417e-05 9.99990817e-01 4.68245977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:139.98, Y:56.39, Z:0.47 [[ 6.65243273e-01 -7.46621029e-01 -2.90304868e-03 1.39978129e+02] [ 7.46614376e-01 6.65249603e-01 -3.15260747e-03 5.63925571e+01] [ 4.28505501e-03 -7.02069697e-05 9.99990817e-01 4.67531806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.00, Y:56.41, Z:0.47 [[ 6.65105372e-01 -7.46743879e-01 -2.90240994e-03 1.39997697e+02] [ 7.46737225e-01 6.65111701e-01 -3.15319541e-03 5.64122507e+01] [ 4.28505618e-03 -7.01303449e-05 9.99990817e-01 4.67676939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.02, Y:56.43, Z:0.47 [[ 6.65187344e-01 -7.46670863e-01 -2.90180461e-03 1.40016493e+02] [ 7.46664205e-01 6.65193670e-01 -3.15375238e-03 5.64315891e+01] [ 4.28507707e-03 -6.88374709e-05 9.99990817e-01 4.67330826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:140.04, Y:56.45, Z:0.47 [[ 6.65933756e-01 -7.46005239e-01 -2.90116272e-03 1.40035812e+02] [ 7.45998573e-01 6.65940072e-01 -3.15434275e-03 5.64512336e+01] [ 4.28515673e-03 -6.36799388e-05 9.99990817e-01 4.68383907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.558623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:140.05, Y:56.47, Z:0.47 [[ 6.66654033e-01 -7.45361649e-01 -2.90049249e-03 1.40053910e+02] [ 7.45354974e-01 6.66660340e-01 -3.15495892e-03 5.64700625e+01] [ 4.28522869e-03 -5.86304173e-05 9.99990817e-01 4.68777868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:56.49, Z:0.47 [[ 6.67180298e-01 -7.44890623e-01 -2.89997498e-03 1.40071874e+02] [ 7.44883942e-01 6.67186598e-01 -3.15543453e-03 5.64893932e+01] [ 4.28527804e-03 -5.49010445e-05 9.99990817e-01 4.68737758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.618623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:140.09, Y:56.51, Z:0.47 [[ 6.67994871e-01 -7.44160229e-01 -2.89927596e-03 1.40090323e+02] [ 7.44153538e-01 6.68001161e-01 -3.15607668e-03 5.65088019e+01] [ 4.28534645e-03 -4.92634240e-05 9.99990817e-01 4.69142998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:140.11, Y:56.53, Z:0.47 [[ 6.69300823e-01 -7.42985873e-01 -2.89861278e-03 1.40109289e+02] [ 7.42979168e-01 6.69307098e-01 -3.15668564e-03 5.65287778e+01] [ 4.28543494e-03 -4.08366133e-05 9.99990817e-01 4.69095526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.13, Y:56.55, Z:0.47 [[ 6.69857743e-01 -7.42483808e-01 -2.89801392e-03 1.40128250e+02] [ 7.42477096e-01 6.69864011e-01 -3.15723533e-03 5.65487784e+01] [ 4.28547134e-03 -3.68104221e-05 9.99990817e-01 4.69511107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:140.15, Y:56.57, Z:0.47 [[ 6.70068653e-01 -7.42293477e-01 -2.89740847e-03 1.40147437e+02] [ 7.42286761e-01 6.70074916e-01 -3.15779086e-03 5.65694948e+01] [ 4.28548829e-03 -3.47712791e-05 9.99990817e-01 4.69265131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.17, Y:56.59, Z:0.47 [[ 6.70195356e-01 -7.42179085e-01 -2.89679686e-03 1.40166093e+02] [ 7.42172365e-01 6.70201615e-01 -3.15835182e-03 5.65894461e+01] [ 4.28550060e-03 -3.32098529e-05 9.99990817e-01 4.68408809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.768623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:140.18, Y:56.61, Z:0.47 [[ 6.70232414e-01 -7.42145621e-01 -2.89615285e-03 1.40184291e+02] [ 7.42138899e-01 6.70238671e-01 -3.15894225e-03 5.66094979e+01] [ 4.28550880e-03 -3.21221973e-05 9.99990817e-01 4.68587015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.798623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:140.20, Y:56.63, Z:0.47 [[ 6.70581877e-01 -7.41829875e-01 -2.89548140e-03 1.40203699e+02] [ 7.41823147e-01 6.70588127e-01 -3.15955758e-03 5.66299370e+01] [ 4.28552965e-03 -2.91930763e-05 9.99990817e-01 4.69496534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.828623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:140.22, Y:56.65, Z:0.47 [[ 6.70784110e-01 -7.41647017e-01 -2.89486625e-03 1.40221799e+02] [ 7.41640285e-01 6.70790356e-01 -3.16012110e-03 5.66494665e+01] [ 4.28554275e-03 -2.71904092e-05 9.99990817e-01 4.68849433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.24, Y:56.67, Z:0.47 [[ 6.70992288e-01 -7.41458679e-01 -2.89421891e-03 1.40239870e+02] [ 7.41451943e-01 6.70998529e-01 -3.16071385e-03 5.66687671e+01] [ 4.28555535e-03 -2.51096169e-05 9.99990817e-01 4.67954967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.888623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.26, Y:56.69, Z:0.47 [[ 6.72109137e-01 -7.40446443e-01 -2.89351293e-03 1.40258826e+02] [ 7.40439694e-01 6.72115366e-01 -3.16136002e-03 5.66887478e+01] [ 4.28559228e-03 -1.76928732e-05 9.99990817e-01 4.68216548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.28, Y:56.71, Z:0.47 [[ 6.72778998e-01 -7.39837855e-01 -2.89285089e-03 1.40276463e+02] [ 7.39831098e-01 6.72785217e-01 -3.16196572e-03 5.67081573e+01] [ 4.28560925e-03 -1.29169250e-05 9.99990817e-01 4.66746746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:140.29, Y:56.73, Z:0.47 [[ 6.73307337e-01 -7.39357062e-01 -2.89233820e-03 1.40294535e+02] [ 7.39350298e-01 6.73313549e-01 -3.16243462e-03 5.67285924e+01] [ 4.28561887e-03 -9.16067474e-06 9.99990817e-01 4.67217728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97862385300002 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:140.31, Y:56.75, Z:0.48 [[ 6.74329941e-01 -7.38424518e-01 -2.89170871e-03 1.40311733e+02] [ 7.38417744e-01 6.74336141e-01 -3.16301011e-03 5.67501129e+01] [ 4.28562791e-03 -2.37659953e-06 9.99990817e-01 4.75277233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00862385300002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:140.33, Y:56.77, Z:0.47 [[ 6.74568597e-01 -7.38206509e-01 -2.89110135e-03 1.40329895e+02] [ 7.38199730e-01 6.74574792e-01 -3.16356517e-03 5.67695703e+01] [ 4.28562849e-03 -1.68521121e-07 9.99990817e-01 4.69204945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.35, Y:56.79, Z:0.47 [[ 6.74452550e-01 -7.38312538e-01 -2.89038495e-03 1.40347499e+02] [ 7.38305758e-01 6.74458743e-01 -3.16421957e-03 5.67900117e+01] [ 4.28562838e-03 1.28104845e-07 9.99990817e-01 4.69798817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.36, Y:56.81, Z:0.47 [[ 6.74269248e-01 -7.38479946e-01 -2.88971876e-03 1.40364344e+02] [ 7.38473165e-01 6.74275440e-01 -3.16482785e-03 5.68099285e+01] [ 4.28562829e-03 -3.36616046e-08 9.99990817e-01 4.68589848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.38, Y:56.83, Z:0.47 [[ 6.73957988e-01 -7.38764024e-01 -2.88920332e-03 1.40382248e+02] [ 7.38757243e-01 6.73964181e-01 -3.16529833e-03 5.68306145e+01] [ 4.28562808e-03 -1.14178251e-06 9.99990817e-01 4.68702268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:140.40, Y:56.85, Z:0.47 [[ 6.73171333e-01 -7.39480908e-01 -2.88853809e-03 1.40400000e+02] [ 7.39474131e-01 6.73177530e-01 -3.16590528e-03 5.68524768e+01] [ 4.28562545e-03 -4.80251301e-06 9.99990817e-01 4.68380648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.42, Y:56.87, Z:0.47 [[ 6.72605185e-01 -7.39995895e-01 -2.88792895e-03 1.40417510e+02] [ 7.39989121e-01 6.72611385e-01 -3.16646083e-03 5.68730268e+01] [ 4.28562191e-03 -7.25803045e-06 9.99990817e-01 4.67184197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:140.44, Y:56.89, Z:0.47 [[ 6.72007029e-01 -7.40539139e-01 -2.88728425e-03 1.40435623e+02] [ 7.40532367e-01 6.72013232e-01 -3.16704859e-03 5.68939587e+01] [ 4.28561665e-03 -9.84852710e-06 9.99990817e-01 4.67764981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:140.45, Y:56.91, Z:0.47 [[ 6.70443081e-01 -7.41955350e-01 -2.88667049e-03 1.40452403e+02] [ 7.41948589e-01 6.70449296e-01 -3.16760791e-03 5.69147371e+01] [ 4.28558983e-03 -1.80602820e-05 9.99990817e-01 4.67377645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:140.47, Y:56.93, Z:0.47 [[ 6.69362691e-01 -7.42930185e-01 -2.88602530e-03 1.40468744e+02] [ 7.42923430e-01 6.69368912e-01 -3.16819564e-03 5.69346430e+01] [ 4.28556379e-03 -2.34238527e-05 9.99990817e-01 4.66755738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.278623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:140.49, Y:56.96, Z:0.47 [[ 6.68219828e-01 -7.43958290e-01 -2.88531175e-03 1.40486823e+02] [ 7.43951541e-01 6.68226056e-01 -3.16884535e-03 5.69565940e+01] [ 4.28552925e-03 -2.90468299e-05 9.99990817e-01 4.68867868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:140.50, Y:56.98, Z:0.47 [[ 6.66987555e-01 -7.45063272e-01 -2.88469696e-03 1.40503958e+02] [ 7.45056532e-01 6.66993792e-01 -3.16940490e-03 5.69773055e+01] [ 4.28548216e-03 -3.53086860e-05 9.99990817e-01 4.67670271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.338623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:140.52, Y:57.00, Z:0.47 [[ 6.63931050e-01 -7.47788234e-01 -2.88404665e-03 1.40521568e+02] [ 7.47781517e-01 6.63937312e-01 -3.16999656e-03 5.69981797e+01] [ 4.28531231e-03 -5.19776294e-05 9.99990817e-01 4.71559692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:140.54, Y:57.02, Z:0.47 [[ 6.62242219e-01 -7.49284278e-01 -2.88337382e-03 1.40539660e+02] [ 7.49277573e-01 6.62248493e-01 -3.17060843e-03 5.70182859e+01] [ 4.28519702e-03 -6.07365800e-05 9.99990817e-01 4.73294137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.398623853 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:140.56, Y:57.04, Z:0.47 [[ 6.60543528e-01 -7.50782217e-01 -2.88269941e-03 1.40558220e+02] [ 7.50775523e-01 6.60549815e-01 -3.17122148e-03 5.70384322e+01] [ 4.28506326e-03 -6.95303308e-05 9.99990817e-01 4.74124849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:140.58, Y:57.06, Z:0.47 [[ 6.58671814e-01 -7.52424837e-01 -2.88202669e-03 1.40576375e+02] [ 7.52418156e-01 6.58678115e-01 -3.17183274e-03 5.70581646e+01] [ 4.28489364e-03 -7.92923824e-05 9.99990817e-01 4.74259352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.458623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:140.59, Y:57.08, Z:0.47 [[ 6.57102286e-01 -7.53795916e-01 -2.88134822e-03 1.40594920e+02] [ 7.53789245e-01 6.57108598e-01 -3.17244895e-03 5.70780832e+01] [ 4.28473775e-03 -8.73058413e-05 9.99990817e-01 4.74082580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.488623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:140.61, Y:57.10, Z:0.47 [[ 6.54604796e-01 -7.55965782e-01 -2.88066876e-03 1.40612663e+02] [ 7.55959129e-01 6.54611126e-01 -3.17306580e-03 5.70968559e+01] [ 4.28444699e-03 -1.00563755e-04 9.99990817e-01 4.72475138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.518623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:140.63, Y:57.12, Z:0.47 [[ 6.53599971e-01 -7.56834713e-01 -2.88014452e-03 1.40631980e+02] [ 7.56828066e-01 6.53606309e-01 -3.17354157e-03 5.71176290e+01] [ 4.28432705e-03 -1.05547533e-04 9.99990817e-01 4.73462145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.548623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:140.65, Y:57.14, Z:0.47 [[ 6.52877729e-01 -7.57457840e-01 -2.87953371e-03 1.40650570e+02] [ 7.57451197e-01 6.52884071e-01 -3.17409569e-03 5.71376899e+01] [ 4.28424536e-03 -1.08809868e-04 9.99990817e-01 4.72269637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.578623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:140.67, Y:57.16, Z:0.47 [[ 6.52426254e-01 -7.57846749e-01 -2.87888687e-03 1.40669065e+02] [ 7.57840108e-01 6.52432596e-01 -3.17468227e-03 5.71571696e+01] [ 4.28420227e-03 -1.10489870e-04 9.99990817e-01 4.72750276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.608623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:140.69, Y:57.18, Z:0.47 [[ 6.52432701e-01 -7.57841201e-01 -2.87821317e-03 1.40688388e+02] [ 7.57834557e-01 6.52439041e-01 -3.17529294e-03 5.71764818e+01] [ 4.28422645e-03 -1.09544454e-04 9.99990817e-01 4.73399092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.638623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:140.71, Y:57.20, Z:0.47 [[ 6.52815282e-01 -7.57511668e-01 -2.87753813e-03 1.40706295e+02] [ 7.57505018e-01 6.52821615e-01 -3.17590456e-03 5.71954070e+01] [ 4.28430385e-03 -1.06470542e-04 9.99990817e-01 4.72504879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.668623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:140.73, Y:57.22, Z:0.47 [[ 6.53247790e-01 -7.57138724e-01 -2.87701531e-03 1.40725284e+02] [ 7.57132068e-01 6.53254117e-01 -3.17637810e-03 5.72155159e+01] [ 4.28438096e-03 -1.03318579e-04 9.99990817e-01 4.73241864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.74, Y:57.24, Z:0.47 [[ 6.54595874e-01 -7.55973524e-01 -2.87634894e-03 1.40744429e+02] [ 7.55966854e-01 6.54602186e-01 -3.17698142e-03 5.72350209e+01] [ 4.28457814e-03 -9.47855360e-05 9.99990817e-01 4.72296446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:140.76, Y:57.26, Z:0.47 [[ 6.55453591e-01 -7.55229978e-01 -2.87568575e-03 1.40763484e+02] [ 7.55223299e-01 6.55459893e-01 -3.17758160e-03 5.72554334e+01] [ 4.28470156e-03 -8.90276044e-05 9.99990817e-01 4.72828038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.78, Y:57.27, Z:0.47 [[ 6.56487046e-01 -7.54331818e-01 -2.87507247e-03 1.40781696e+02] [ 7.54325128e-01 6.56493337e-01 -3.17813640e-03 5.72748534e+01] [ 4.28483533e-03 -8.23340307e-05 9.99990817e-01 4.72052895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:140.80, Y:57.29, Z:0.47 [[ 6.58629525e-01 -7.52461883e-01 -2.87442253e-03 1.40800381e+02] [ 7.52455172e-01 6.58635794e-01 -3.17872412e-03 5.72941330e+01] [ 4.28506630e-03 -6.92725429e-05 9.99990817e-01 4.72603437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:140.82, Y:57.31, Z:0.47 [[ 6.59754071e-01 -7.51476086e-01 -2.87375815e-03 1.40819082e+02] [ 7.51469363e-01 6.59760327e-01 -3.17932464e-03 5.73141594e+01] [ 4.28517806e-03 -6.19688281e-05 9.99990817e-01 4.72859171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:140.84, Y:57.33, Z:0.47 [[ 6.60930559e-01 -7.50441564e-01 -2.87307808e-03 1.40836865e+02] [ 7.50434829e-01 6.60936802e-01 -3.17993909e-03 5.73331962e+01] [ 4.28528150e-03 -5.43389358e-05 9.99990817e-01 4.72825808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:140.86, Y:57.35, Z:0.47 [[ 6.62114540e-01 -7.49397148e-01 -2.87236331e-03 1.40855400e+02] [ 7.49390400e-01 6.62120769e-01 -3.18058459e-03 5.73535863e+01] [ 4.28537243e-03 -4.66101849e-05 9.99990817e-01 4.72793354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:140.87, Y:57.37, Z:0.47 [[ 6.63183103e-01 -7.48451686e-01 -2.87168872e-03 1.40873236e+02] [ 7.48444926e-01 6.63189319e-01 -3.18119355e-03 5.73729819e+01] [ 4.28544296e-03 -3.95870487e-05 9.99990817e-01 4.73099363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93862385300002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:140.89, Y:57.39, Z:0.47 [[ 6.65223130e-01 -7.46639100e-01 -2.87097804e-03 1.40890922e+02] [ 7.46632320e-01 6.65229325e-01 -3.18183480e-03 5.73921444e+01] [ 4.28554105e-03 -2.69348914e-05 9.99990817e-01 4.71906684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:140.91, Y:57.41, Z:0.47 [[ 6.65856506e-01 -7.46074309e-01 -2.87027654e-03 1.40909270e+02] [ 7.46067522e-01 6.65862692e-01 -3.18246749e-03 5.74121947e+01] [ 4.28556729e-03 -2.23534225e-05 9.99990817e-01 4.72090520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:140.93, Y:57.43, Z:0.47 [[ 6.66395757e-01 -7.45592690e-01 -2.86960698e-03 1.40927686e+02] [ 7.45585896e-01 6.66401936e-01 -3.18307111e-03 5.74317696e+01] [ 4.28558620e-03 -1.83534035e-05 9.99990817e-01 4.71696330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:140.95, Y:57.45, Z:0.47 [[ 6.66703727e-01 -7.45317322e-01 -2.86893872e-03 1.40945960e+02] [ 7.45310522e-01 6.66709899e-01 -3.18367330e-03 5.74515871e+01] [ 4.28559671e-03 -1.56833632e-05 9.99990817e-01 4.71430057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.058623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:140.96, Y:57.47, Z:0.48 [[ 6.67315572e-01 -7.44769562e-01 -2.86825299e-03 1.40963291e+02] [ 7.44762755e-01 6.67321736e-01 -3.18429098e-03 5.74710335e+01] [ 4.28561056e-03 -1.12410437e-05 9.99990817e-01 4.76644260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:140.98, Y:57.49, Z:0.47 [[ 6.67444444e-01 -7.44654074e-01 -2.86772066e-03 1.40982726e+02] [ 7.44647264e-01 6.67450604e-01 -3.18477031e-03 5.74900001e+01] [ 4.28561408e-03 -9.78309549e-06 9.99990817e-01 4.71608385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.118623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:141.00, Y:57.51, Z:0.47 [[ 6.67365027e-01 -7.44725252e-01 -2.86704531e-03 1.40999930e+02] [ 7.44718440e-01 6.67371185e-01 -3.18537817e-03 5.75092307e+01] [ 4.28561499e-03 -9.33152820e-06 9.99990817e-01 4.71495445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:141.02, Y:57.53, Z:0.47 [[ 6.67212447e-01 -7.44861957e-01 -2.86633637e-03 1.41018242e+02] [ 7.44855143e-01 6.67218604e-01 -3.18601597e-03 5.75299601e+01] [ 4.28561505e-03 -9.25587482e-06 9.99990817e-01 4.71613926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.178623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.04, Y:57.55, Z:0.47 [[ 6.66978403e-01 -7.45071538e-01 -2.86568355e-03 1.41036300e+02] [ 7.45064724e-01 6.66984559e-01 -3.18660305e-03 5.75498119e+01] [ 4.28561392e-03 -9.72431273e-06 9.99990817e-01 4.71658994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.05, Y:57.57, Z:0.47 [[ 6.66906482e-01 -7.45135917e-01 -2.86503164e-03 1.41054651e+02] [ 7.45129101e-01 6.66912636e-01 -3.18718907e-03 5.75691735e+01] [ 4.28561485e-03 -9.26139490e-06 9.99990817e-01 4.72916250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:57.59, Z:0.47 [[ 6.66710228e-01 -7.45311524e-01 -2.86434008e-03 1.41073435e+02] [ 7.45304707e-01 6.66716381e-01 -3.18781045e-03 5.75884960e+01] [ 4.28561432e-03 -9.46031532e-06 9.99990817e-01 4.73805693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.268623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:141.09, Y:57.61, Z:0.48 [[ 6.66578883e-01 -7.45428999e-01 -2.86364495e-03 1.41089362e+02] [ 7.45422180e-01 6.66585034e-01 -3.18843478e-03 5.76086881e+01] [ 4.28561461e-03 -9.28116233e-06 9.99990817e-01 4.81134123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.298623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:141.11, Y:57.63, Z:0.47 [[ 6.66869946e-01 -7.45168625e-01 -2.86291628e-03 1.41107834e+02] [ 7.45161801e-01 6.66876091e-01 -3.18908892e-03 5.76272072e+01] [ 4.28561942e-03 -6.62829718e-06 9.99990817e-01 4.74243724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.328623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:141.13, Y:57.65, Z:0.48 [[ 6.66970981e-01 -7.45078196e-01 -2.86219463e-03 1.41125335e+02] [ 7.45071368e-01 6.66977123e-01 -3.18973647e-03 5.76472147e+01] [ 4.28562143e-03 -5.07760293e-06 9.99990817e-01 4.75343413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.358623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:141.14, Y:57.67, Z:0.48 [[ 6.66795801e-01 -7.45234978e-01 -2.86150243e-03 1.41142962e+02] [ 7.45228149e-01 6.66801941e-01 -3.19035732e-03 5.76674663e+01] [ 4.28562124e-03 -5.15529406e-06 9.99990817e-01 4.76751540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.388623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:141.16, Y:57.69, Z:0.48 [[ 6.66699229e-01 -7.45321376e-01 -2.86083205e-03 1.41161295e+02] [ 7.45314545e-01 6.66705367e-01 -3.19095834e-03 5.76881038e+01] [ 4.28562154e-03 -4.81027314e-06 9.99990817e-01 4.77520253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.418623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:141.18, Y:57.71, Z:0.48 [[ 6.66464751e-01 -7.45531056e-01 -2.86015636e-03 1.41179174e+02] [ 7.45524224e-01 6.66470888e-01 -3.19156387e-03 5.77080764e+01] [ 4.28562093e-03 -5.25103316e-06 9.99990817e-01 4.77929832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:141.20, Y:57.73, Z:0.48 [[ 6.66360454e-01 -7.45624281e-01 -2.85946169e-03 1.41196598e+02] [ 7.45617448e-01 6.66366589e-01 -3.19218613e-03 5.77271672e+01] [ 4.28562122e-03 -4.91792718e-06 9.99990817e-01 4.76858654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:141.21, Y:57.75, Z:0.48 [[ 6.66089880e-01 -7.45866006e-01 -2.85873297e-03 1.41214629e+02] [ 7.45859173e-01 6.66096014e-01 -3.19283859e-03 5.77473894e+01] [ 4.28562041e-03 -5.49473362e-06 9.99990817e-01 4.76931449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.23, Y:57.77, Z:0.48 [[ 6.65894799e-01 -7.46040178e-01 -2.85805272e-03 1.41232957e+02] [ 7.46033344e-01 6.65900933e-01 -3.19344740e-03 5.77678753e+01] [ 4.28562004e-03 -5.70261635e-06 9.99990817e-01 4.77266116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.25, Y:57.79, Z:0.48 [[ 6.65811049e-01 -7.46114926e-01 -2.85736539e-03 1.41250170e+02] [ 7.46108089e-01 6.65817180e-01 -3.19406228e-03 5.77880477e+01] [ 4.28562051e-03 -5.26147420e-06 9.99990817e-01 4.77258982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:57.81, Z:0.48 [[ 6.65586559e-01 -7.46315196e-01 -2.85664288e-03 1.41269066e+02] [ 7.46308359e-01 6.65592689e-01 -3.19470833e-03 5.78092946e+01] [ 4.28561999e-03 -5.58152920e-06 9.99990817e-01 4.76762841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.29, Y:57.83, Z:0.48 [[ 6.65337990e-01 -7.46536805e-01 -2.85602391e-03 1.41286851e+02] [ 7.46529967e-01 6.65344120e-01 -3.19526159e-03 5.78282326e+01] [ 4.28561909e-03 -6.17851056e-06 9.99990817e-01 4.76255181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.30, Y:57.85, Z:0.48 [[ 6.65127564e-01 -7.46724293e-01 -2.85529261e-03 1.41304854e+02] [ 7.46717454e-01 6.65133693e-01 -3.19591494e-03 5.78486231e+01] [ 4.28561865e-03 -6.40570905e-06 9.99990817e-01 4.76208293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:141.32, Y:57.87, Z:0.48 [[ 6.64950764e-01 -7.46881740e-01 -2.85460973e-03 1.41321488e+02] [ 7.46874900e-01 6.64956891e-01 -3.19652477e-03 5.78682566e+01] [ 4.28561840e-03 -6.50476911e-06 9.99990817e-01 4.76864606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.34, Y:57.89, Z:0.48 [[ 6.64908030e-01 -7.46919786e-01 -2.85389292e-03 1.41339001e+02] [ 7.46912943e-01 6.64914155e-01 -3.19716463e-03 5.78886131e+01] [ 4.28561932e-03 -5.78912643e-06 9.99990817e-01 4.77396616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:141.36, Y:57.91, Z:0.48 [[ 6.64609122e-01 -7.47185770e-01 -2.85320854e-03 1.41356596e+02] [ 7.47178927e-01 6.64615246e-01 -3.19777527e-03 5.79078386e+01] [ 4.28561807e-03 -6.58667876e-06 9.99990817e-01 4.77455260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:141.37, Y:57.93, Z:0.48 [[ 6.64374384e-01 -7.47394501e-01 -2.85248924e-03 1.41374969e+02] [ 7.47387658e-01 6.64380508e-01 -3.19841676e-03 5.79277996e+01] [ 4.28561736e-03 -6.96908457e-06 9.99990817e-01 4.78137605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.778623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:141.39, Y:57.95, Z:0.48 [[ 6.64153491e-01 -7.47590802e-01 -2.85181087e-03 1.41392586e+02] [ 7.47583958e-01 6.64159614e-01 -3.19902151e-03 5.79483714e+01] [ 4.28561666e-03 -7.32675894e-06 9.99990817e-01 4.78390639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:141.41, Y:57.97, Z:0.48 [[ 6.63960691e-01 -7.47762042e-01 -2.85113030e-03 1.41410094e+02] [ 7.47755197e-01 6.63966812e-01 -3.19962795e-03 5.79692979e+01] [ 4.28561623e-03 -7.52031164e-06 9.99990817e-01 4.78381362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.838623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.43, Y:57.99, Z:0.48 [[ 6.63850408e-01 -7.47859954e-01 -2.85045265e-03 1.41427673e+02] [ 7.47853107e-01 6.63856528e-01 -3.20023153e-03 5.79888716e+01] [ 4.28561661e-03 -7.24486410e-06 9.99990817e-01 4.77761977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:141.45, Y:58.01, Z:0.48 [[ 6.63569280e-01 -7.48109411e-01 -2.84974104e-03 1.41445837e+02] [ 7.48102563e-01 6.63575399e-01 -3.20086508e-03 5.80094555e+01] [ 4.28561534e-03 -7.90284275e-06 9.99990817e-01 4.77909998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.898623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:141.46, Y:58.03, Z:0.48 [[ 6.63568587e-01 -7.48110028e-01 -2.84906894e-03 1.41463788e+02] [ 7.48103178e-01 6.63574703e-01 -3.20146321e-03 5.80301358e+01] [ 4.28561680e-03 -7.00711303e-06 9.99990817e-01 4.78382298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:141.48, Y:58.05, Z:0.48 [[ 6.63719967e-01 -7.47975729e-01 -2.84838957e-03 1.41481058e+02] [ 7.47968875e-01 6.63726079e-01 -3.20206754e-03 5.80514974e+01] [ 4.28561924e-03 -5.23057493e-06 9.99990817e-01 4.79217754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.958623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:141.50, Y:58.07, Z:0.48 [[ 6.63692655e-01 -7.47999967e-01 -2.84771456e-03 1.41498970e+02] [ 7.47993110e-01 6.63698764e-01 -3.20266774e-03 5.80725270e+01] [ 4.28561999e-03 -4.48381459e-06 9.99990817e-01 4.79724751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.52, Y:58.09, Z:0.48 [[ 6.63702193e-01 -7.47991507e-01 -2.84704027e-03 1.41515770e+02] [ 7.47984648e-01 6.63708299e-01 -3.20326704e-03 5.80927154e+01] [ 4.28562079e-03 -3.52705793e-06 9.99990817e-01 4.79236954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.018623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:141.53, Y:58.11, Z:0.48 [[ 6.63629046e-01 -7.48056407e-01 -2.84633279e-03 1.41532316e+02] [ 7.48049546e-01 6.63635150e-01 -3.20389556e-03 5.81148800e+01] [ 4.28562109e-03 -2.99979847e-06 9.99990817e-01 4.78713426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.048623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.55, Y:58.14, Z:0.48 [[ 6.63152971e-01 -7.48478483e-01 -2.84567079e-03 1.41549136e+02] [ 7.48471623e-01 6.63159076e-01 -3.20448344e-03 5.81356273e+01] [ 4.28561931e-03 -4.84112230e-06 9.99990817e-01 4.78908405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.078623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.57, Y:58.16, Z:0.48 [[ 6.62574711e-01 -7.48990426e-01 -2.84500446e-03 1.41565921e+02] [ 7.48983568e-01 6.62580819e-01 -3.20507491e-03 5.81553764e+01] [ 4.28561581e-03 -7.26000498e-06 9.99990817e-01 4.78759767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.108623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:141.58, Y:58.18, Z:0.48 [[ 6.61709226e-01 -7.49755166e-01 -2.84448843e-03 1.41583739e+02] [ 7.49748314e-01 6.61715340e-01 -3.20553282e-03 5.81760659e+01] [ 4.28560642e-03 -1.15197617e-05 9.99990817e-01 4.79073389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.60, Y:58.20, Z:0.48 [[ 6.59659524e-01 -7.51559196e-01 -2.84382082e-03 1.41601299e+02] [ 7.51552358e-01 6.59665654e-01 -3.20612499e-03 5.81957943e+01] [ 4.28556364e-03 -2.23293566e-05 9.99990817e-01 4.78030077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.168623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.62, Y:58.22, Z:0.48 [[ 6.58476238e-01 -7.52596147e-01 -2.84311832e-03 1.41619069e+02] [ 7.52589316e-01 6.58482375e-01 -3.20674783e-03 5.82164975e+01] [ 4.28552936e-03 -2.81332283e-05 9.99990817e-01 4.78188193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.64, Y:58.24, Z:0.48 [[ 6.57367896e-01 -7.53564443e-01 -2.84247194e-03 1.41636854e+02] [ 7.53557618e-01 6.57374041e-01 -3.20732068e-03 5.82370259e+01] [ 4.28549008e-03 -3.35767322e-05 9.99990817e-01 4.78689749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.65, Y:58.26, Z:0.48 [[ 6.56117283e-01 -7.54653586e-01 -2.84182698e-03 1.41654849e+02] [ 7.54646769e-01 6.56123436e-01 -3.20789204e-03 5.82577054e+01] [ 4.28543651e-03 -3.98221427e-05 9.99990817e-01 4.80001615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.67, Y:58.28, Z:0.48 [[ 6.53618141e-01 -7.56819168e-01 -2.84116252e-03 1.41672958e+02] [ 7.56812369e-01 6.53624314e-01 -3.20848043e-03 5.82772259e+01] [ 4.28529239e-03 -5.31059237e-05 9.99990817e-01 4.78669062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.69, Y:58.30, Z:0.48 [[ 6.52252276e-01 -7.57996636e-01 -2.84046468e-03 1.41690601e+02] [ 7.57989846e-01 6.52258458e-01 -3.20909811e-03 5.82962748e+01] [ 4.28520268e-03 -5.99018361e-05 9.99990817e-01 4.78333439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.71, Y:58.32, Z:0.48 [[ 6.50899291e-01 -7.59158777e-01 -2.83976112e-03 1.41709071e+02] [ 7.59151994e-01 6.50905483e-01 -3.20972057e-03 5.83158795e+01] [ 4.28510363e-03 -6.66054694e-05 9.99990817e-01 4.81007190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.73, Y:58.34, Z:0.48 [[ 6.49520950e-01 -7.60338396e-01 -2.83906546e-03 1.41728241e+02] [ 7.60331622e-01 6.49527150e-01 -3.21033578e-03 5.83365679e+01] [ 4.28499165e-03 -7.34508951e-05 9.99990817e-01 4.81164334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:141.75, Y:58.35, Z:0.48 [[ 6.47474528e-01 -7.62081806e-01 -2.83843798e-03 1.41747765e+02] [ 7.62075046e-01 6.47480745e-01 -3.21089048e-03 5.83537703e+01] [ 4.28479515e-03 -8.41329512e-05 9.99990817e-01 4.81238729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.77, Y:58.37, Z:0.48 [[ 6.46632865e-01 -7.62796097e-01 -2.83769875e-03 1.41767055e+02] [ 7.62789341e-01 6.46639086e-01 -3.21154366e-03 5.83735899e+01] [ 4.28471989e-03 -8.78766788e-05 9.99990817e-01 4.82508807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.79, Y:58.39, Z:0.48 [[ 6.46042152e-01 -7.63296462e-01 -2.83699478e-03 1.41785014e+02] [ 7.63289708e-01 6.46048375e-01 -3.21216540e-03 5.83920560e+01] [ 4.28467035e-03 -9.02546709e-05 9.99990817e-01 4.82182516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.80, Y:58.41, Z:0.48 [[ 6.45658458e-01 -7.63621052e-01 -2.83625948e-03 1.41803095e+02] [ 7.63614299e-01 6.45664681e-01 -3.21281452e-03 5.84104738e+01] [ 4.28464538e-03 -9.14274252e-05 9.99990817e-01 4.82324019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.82, Y:58.43, Z:0.48 [[ 6.45241474e-01 -7.63973429e-01 -2.83553733e-03 1.41821796e+02] [ 7.63966676e-01 6.45247698e-01 -3.21345175e-03 5.84297460e+01] [ 4.28461568e-03 -9.28036869e-05 9.99990817e-01 4.84068923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.84, Y:58.45, Z:0.48 [[ 6.45217680e-01 -7.63993527e-01 -2.83484150e-03 1.41842912e+02] [ 7.63986772e-01 6.45223901e-01 -3.21406548e-03 5.84476163e+01] [ 4.28463271e-03 -9.20095328e-05 9.99990817e-01 4.84882403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.558623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.86, Y:58.47, Z:0.48 [[ 6.45419833e-01 -7.63822759e-01 -2.83414643e-03 1.41861583e+02] [ 7.63815999e-01 6.45426050e-01 -3.21467827e-03 5.84657034e+01] [ 4.28467636e-03 -8.99492698e-05 9.99990817e-01 4.84789931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.88, Y:58.48, Z:0.49 [[ 6.45687758e-01 -7.63596288e-01 -2.83341633e-03 1.41880998e+02] [ 7.63589524e-01 6.45693968e-01 -3.21532165e-03 5.84845678e+01] [ 4.28472751e-03 -8.74731957e-05 9.99990817e-01 4.85359862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.618623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.90, Y:58.50, Z:0.49 [[ 6.47093024e-01 -7.62405793e-01 -2.83272264e-03 1.41901758e+02] [ 7.62399015e-01 6.47099220e-01 -3.21593268e-03 5.85017483e+01] [ 4.28489831e-03 -7.86573486e-05 9.99990817e-01 4.85180306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:141.92, Y:58.52, Z:0.49 [[ 6.48022705e-01 -7.61615752e-01 -2.83199372e-03 1.41921020e+02] [ 7.61608963e-01 6.48028889e-01 -3.21657444e-03 5.85206702e+01] [ 4.28500751e-03 -7.24585292e-05 9.99990817e-01 4.85281348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:58.54, Z:0.48 [[ 6.49151796e-01 -7.60653620e-01 -2.83130979e-03 1.41939712e+02] [ 7.60646819e-01 6.49157967e-01 -3.21717635e-03 5.85395127e+01] [ 4.28512414e-03 -6.51909821e-05 9.99990817e-01 4.84811368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.96, Y:58.56, Z:0.48 [[ 6.50548594e-01 -7.59459356e-01 -2.83059198e-03 1.41959141e+02] [ 7.59452542e-01 6.50554750e-01 -3.21780778e-03 5.85588820e+01] [ 4.28524928e-03 -5.63599408e-05 9.99990817e-01 4.84654656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.738623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.98, Y:58.58, Z:0.48 [[ 6.53452299e-01 -7.56962406e-01 -2.82991764e-03 1.41980559e+02] [ 7.56955565e-01 6.53458426e-01 -3.21840072e-03 5.85768745e+01] [ 4.28544188e-03 -3.90505510e-05 9.99990817e-01 4.84306699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.768623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:142.00, Y:58.60, Z:0.48 [[ 6.54940983e-01 -7.55674735e-01 -2.82923822e-03 1.41999733e+02] [ 7.55667879e-01 6.54947093e-01 -3.21899788e-03 5.85954355e+01] [ 4.28551671e-03 -2.97108134e-05 9.99990817e-01 4.84261865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.798623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.02, Y:58.61, Z:0.49 [[ 6.56627813e-01 -7.54209463e-01 -2.82871115e-03 1.42018936e+02] [ 7.54202592e-01 6.56633906e-01 -3.21946097e-03 5.86145056e+01] [ 4.28557558e-03 -1.94336636e-05 9.99990817e-01 4.85718657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:58.63, Z:0.49 [[ 6.58452789e-01 -7.52616720e-01 -2.82801923e-03 1.42037447e+02] [ 7.52609831e-01 6.58458862e-01 -3.22006865e-03 5.86326951e+01] [ 4.28561183e-03 -8.13189642e-06 9.99990817e-01 4.86361240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.858623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.06, Y:58.65, Z:0.49 [[ 6.61984788e-01 -7.49511939e-01 -2.82729414e-03 1.42057538e+02] [ 7.49505019e-01 6.61990826e-01 -3.22070517e-03 5.86516409e+01] [ 4.28559976e-03 1.29866845e-05 9.99990817e-01 4.88583835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.888623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.08, Y:58.67, Z:0.49 [[ 6.63648452e-01 -7.48039266e-01 -2.82661314e-03 1.42076657e+02] [ 7.48032330e-01 6.63654471e-01 -3.22130274e-03 5.86716663e+01] [ 4.28555538e-03 2.34145640e-05 9.99990817e-01 4.89115788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.918623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.10, Y:58.69, Z:0.49 [[ 6.65040281e-01 -7.46802142e-01 -2.82593698e-03 1.42095502e+02] [ 7.46795192e-01 6.65046284e-01 -3.22189580e-03 5.86917728e+01] [ 4.28549757e-03 3.22943355e-05 9.99990817e-01 4.89411884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.11, Y:58.71, Z:0.49 [[ 6.67626130e-01 -7.44491349e-01 -2.82523415e-03 1.42114312e+02] [ 7.44484376e-01 6.67632106e-01 -3.22251198e-03 5.87099469e+01] [ 4.28534932e-03 4.80905141e-05 9.99990817e-01 4.87474381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.13, Y:58.73, Z:0.49 [[ 6.68787507e-01 -7.43448245e-01 -2.82449838e-03 1.42132763e+02] [ 7.43441260e-01 6.68793469e-01 -3.22315674e-03 5.87298796e+01] [ 4.28525629e-03 5.57583259e-05 9.99990817e-01 4.86851530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.15, Y:58.75, Z:0.49 [[ 6.69871352e-01 -7.42471817e-01 -2.82380326e-03 1.42150357e+02] [ 7.42464821e-01 6.69877300e-01 -3.22376563e-03 5.87496999e+01] [ 4.28515682e-03 6.29336574e-05 9.99990817e-01 4.86094122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.17, Y:58.77, Z:0.49 [[ 6.71006487e-01 -7.41446103e-01 -2.82307217e-03 1.42168723e+02] [ 7.41439096e-01 6.71012422e-01 -3.22440572e-03 5.87706058e+01] [ 4.28503955e-03 7.04610776e-05 9.99990817e-01 4.86878392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.19, Y:58.79, Z:0.49 [[ 6.70861420e-01 -7.41577365e-01 -2.82244301e-03 1.42187360e+02] [ 7.41570356e-01 6.70867354e-01 -3.22495635e-03 5.87921728e+01] [ 4.28503951e-03 7.04587334e-05 9.99990817e-01 4.87000457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.20, Y:58.81, Z:0.49 [[ 6.71705216e-01 -7.40813161e-01 -2.82181197e-03 1.42204694e+02] [ 7.40806143e-01 6.71711139e-01 -3.22550841e-03 5.88125443e+01] [ 4.28494161e-03 7.61751794e-05 9.99990817e-01 4.87033872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.22, Y:58.83, Z:0.49 [[ 6.73194144e-01 -7.39460401e-01 -2.82114511e-03 1.42221020e+02] [ 7.39453369e-01 6.73200050e-01 -3.22609156e-03 5.88323976e+01] [ 4.28476199e-03 8.56806925e-05 9.99990817e-01 4.86567121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.24, Y:58.85, Z:0.49 [[ 6.73463493e-01 -7.39215103e-01 -2.82041135e-03 1.42239119e+02] [ 7.39208066e-01 6.73469393e-01 -3.22673292e-03 5.88542526e+01] [ 4.28471043e-03 8.82160059e-05 9.99990817e-01 4.88096333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.26, Y:58.87, Z:0.49 [[ 6.73813797e-01 -7.38895808e-01 -2.81977500e-03 1.42256630e+02] [ 7.38888766e-01 6.73819691e-01 -3.22728893e-03 5.88748232e+01] [ 4.28465018e-03 9.10917388e-05 9.99990817e-01 4.87243996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.27, Y:58.89, Z:0.49 [[ 6.74000007e-01 -7.38725959e-01 -2.81910037e-03 1.42273354e+02] [ 7.38718913e-01 6.74005896e-01 -3.22787812e-03 5.88949261e+01] [ 4.28460763e-03 9.30671194e-05 9.99990817e-01 4.87239095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.29, Y:58.92, Z:0.49 [[ 6.74132329e-01 -7.38605212e-01 -2.81838274e-03 1.42289719e+02] [ 7.38598162e-01 6.74138214e-01 -3.22850459e-03 5.89157197e+01] [ 4.28456982e-03 9.47870015e-05 9.99990817e-01 4.86830465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.278623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:142.31, Y:58.94, Z:0.49 [[ 6.73984048e-01 -7.38740526e-01 -2.81771224e-03 1.42306206e+02] [ 7.38733474e-01 6.73989931e-01 -3.22908966e-03 5.89354273e+01] [ 4.28456908e-03 9.48165667e-05 9.99990817e-01 4.86519520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.32, Y:58.96, Z:0.49 [[ 6.73626946e-01 -7.39066169e-01 -2.81700634e-03 1.42323438e+02] [ 7.39059118e-01 6.73632829e-01 -3.22970537e-03 5.89562887e+01] [ 4.28459392e-03 9.36823377e-05 9.99990817e-01 4.87044426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.34, Y:58.98, Z:0.49 [[ 6.73033144e-01 -7.39606960e-01 -2.81633262e-03 1.42340847e+02] [ 7.39599912e-01 6.73039030e-01 -3.23029275e-03 5.89778783e+01] [ 4.28464878e-03 9.11347231e-05 9.99990817e-01 4.87220118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.36, Y:59.00, Z:0.49 [[ 6.71597189e-01 -7.40911119e-01 -2.81572011e-03 1.42357626e+02] [ 7.40904080e-01 6.71603087e-01 -3.23082656e-03 5.89996868e+01] [ 4.28480164e-03 8.36355243e-05 9.99990817e-01 4.85099479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.398623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.37, Y:59.02, Z:0.48 [[ 6.70588806e-01 -7.41823920e-01 -2.81507433e-03 1.42374612e+02] [ 7.41816886e-01 6.70594710e-01 -3.23138915e-03 5.90199741e+01] [ 4.28489572e-03 7.86637182e-05 9.99990817e-01 4.84834133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.39, Y:59.04, Z:0.49 [[ 6.69359781e-01 -7.42933081e-01 -2.81436965e-03 1.42391964e+02] [ 7.42926054e-01 6.69365694e-01 -3.23200276e-03 5.90412923e+01] [ 4.28500427e-03 7.25041202e-05 9.99990817e-01 4.86012909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.41, Y:59.06, Z:0.49 [[ 6.68325540e-01 -7.43863601e-01 -2.81368020e-03 1.42407922e+02] [ 7.43856580e-01 6.68331459e-01 -3.23260287e-03 5.90615024e+01] [ 4.28508660e-03 6.74565304e-05 9.99990817e-01 4.85576112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.42, Y:59.08, Z:0.49 [[ 6.66120721e-01 -7.45838637e-01 -2.81295491e-03 1.42423346e+02] [ 7.45831631e-01 6.66126658e-01 -3.23323388e-03 5.90828106e+01] [ 4.28525500e-03 5.57333348e-05 9.99990817e-01 4.85740161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.518623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.44, Y:59.10, Z:0.49 [[ 6.64958369e-01 -7.46875129e-01 -2.81225020e-03 1.42440659e+02] [ 7.46868130e-01 6.64964314e-01 -3.23384672e-03 5.91038897e+01] [ 4.28532571e-03 4.99933896e-05 9.99990817e-01 4.86703216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.46, Y:59.12, Z:0.49 [[ 6.63804203e-01 -7.47901114e-01 -2.81156531e-03 1.42457708e+02] [ 7.47894121e-01 6.63810155e-01 -3.23444206e-03 5.91241382e+01] [ 4.28538843e-03 4.42830675e-05 9.99990817e-01 4.86568717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:59.15, Z:0.49 [[ 6.61729720e-01 -7.49737205e-01 -2.81084648e-03 1.42474460e+02] [ 7.49730226e-01 6.61735689e-01 -3.23506663e-03 5.91451163e+01] [ 4.28548725e-03 3.33631718e-05 9.99990817e-01 4.86229321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:59.16, Z:0.49 [[ 6.60748042e-01 -7.50602510e-01 -2.81016888e-03 1.42491108e+02] [ 7.50595536e-01 6.60754018e-01 -3.23565513e-03 5.91647125e+01] [ 4.28552124e-03 2.86525726e-05 9.99990817e-01 4.86922871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:59.19, Z:0.49 [[ 6.59888908e-01 -7.51357928e-01 -2.80945929e-03 1.42508394e+02] [ 7.51350959e-01 6.59894888e-01 -3.23627113e-03 5.91855013e+01] [ 4.28554580e-03 2.46894879e-05 9.99990817e-01 4.88179648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:59.21, Z:0.49 [[ 6.59050370e-01 -7.52093559e-01 -2.80875542e-03 1.42524887e+02] [ 7.52086593e-01 6.59056355e-01 -3.23688191e-03 5.92058017e+01] [ 4.28556614e-03 2.08409277e-05 9.99990817e-01 4.87372453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.54, Y:59.23, Z:0.49 [[ 6.58078936e-01 -7.52943709e-01 -2.80801650e-03 1.42541901e+02] [ 7.52936749e-01 6.58084927e-01 -3.23752280e-03 5.92274750e+01] [ 4.28558576e-03 1.62867423e-05 9.99990817e-01 4.86884400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:59.25, Z:0.49 [[ 6.57758740e-01 -7.53223446e-01 -2.80735965e-03 1.42559349e+02] [ 7.53216486e-01 6.57764731e-01 -3.23809227e-03 5.92486904e+01] [ 4.28558918e-03 1.53339243e-05 9.99990817e-01 4.86970466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.58, Y:59.27, Z:0.49 [[ 6.57653607e-01 -7.53315244e-01 -2.80669698e-03 1.42576848e+02] [ 7.53308282e-01 6.57659595e-01 -3.23866656e-03 5.92696989e+01] [ 4.28558809e-03 1.56126677e-05 9.99990817e-01 4.88214890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:59.29, Z:0.49 [[ 6.57759391e-01 -7.53222882e-01 -2.80600446e-03 1.42593149e+02] [ 7.53215917e-01 6.57765376e-01 -3.23926645e-03 5.92895392e+01] [ 4.28558219e-03 1.71307009e-05 9.99990817e-01 4.87958600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:142.61, Y:59.31, Z:0.49 [[ 6.58904849e-01 -7.52221064e-01 -2.80537516e-03 1.42608314e+02] [ 7.52214088e-01 6.58910821e-01 -3.23981136e-03 5.93119261e+01] [ 4.28554640e-03 2.44847005e-05 9.99990817e-01 4.94919963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.63, Y:59.33, Z:0.49 [[ 6.59235217e-01 -7.51931555e-01 -2.80466974e-03 1.42625374e+02] [ 7.51924573e-01 6.59241182e-01 -3.24042193e-03 5.93327321e+01] [ 4.28552929e-03 2.73001581e-05 9.99990817e-01 4.89593492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:59.35, Z:0.49 [[ 6.59823599e-01 -7.51415302e-01 -2.80396820e-03 1.42641271e+02] [ 7.51408313e-01 6.59829556e-01 -3.24102886e-03 5.93535193e+01] [ 4.28549977e-03 3.15823166e-05 9.99990817e-01 4.88440763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.66, Y:59.38, Z:0.49 [[ 6.60394945e-01 -7.50913216e-01 -2.80342440e-03 1.42657444e+02] [ 7.50906220e-01 6.60400895e-01 -3.24149917e-03 5.93751881e+01] [ 4.28546855e-03 3.55608431e-05 9.99990817e-01 4.88361616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:59.40, Z:0.49 [[ 6.61249086e-01 -7.50161176e-01 -2.80272520e-03 1.42673783e+02] [ 7.50154171e-01 6.61255025e-01 -3.24210361e-03 5.93985814e+01] [ 4.28541638e-03 4.13620522e-05 9.99990817e-01 4.87839724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:59.42, Z:0.49 [[ 6.61579296e-01 -7.49869977e-01 -2.80209258e-03 1.42690170e+02] [ 7.49862968e-01 6.61585229e-01 -3.24265028e-03 5.94191113e+01] [ 4.28538915e-03 4.40848290e-05 9.99990817e-01 4.87068449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:59.44, Z:0.49 [[ 6.61792396e-01 -7.49681917e-01 -2.80154094e-03 1.42705935e+02] [ 7.49674903e-01 6.61798324e-01 -3.24312681e-03 5.94398749e+01] [ 4.28536862e-03 4.60317230e-05 9.99990817e-01 4.86179072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.72, Y:59.46, Z:0.49 [[ 6.62098441e-01 -7.49411642e-01 -2.80100945e-03 1.42722068e+02] [ 7.49404624e-01 6.62104364e-01 -3.24358578e-03 5.94616641e+01] [ 4.28534152e-03 4.84836550e-05 9.99990817e-01 4.86293271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.058623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.74, Y:59.48, Z:0.49 [[ 6.62628572e-01 -7.48942944e-01 -2.80032838e-03 1.42736402e+02] [ 7.48935919e-01 6.62634488e-01 -3.24417367e-03 5.94844819e+01] [ 4.28529514e-03 5.24156581e-05 9.99990817e-01 4.86506328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:142.75, Y:59.51, Z:0.49 [[ 6.62854187e-01 -7.48743273e-01 -2.79961251e-03 1.42751837e+02] [ 7.48736244e-01 6.62860097e-01 -3.24479133e-03 5.95068352e+01] [ 4.28526710e-03 5.46521687e-05 9.99990817e-01 4.93222053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.77, Y:59.53, Z:0.49 [[ 6.62358156e-01 -7.49182113e-01 -2.79892456e-03 1.42768739e+02] [ 7.49175086e-01 6.62364068e-01 -3.24538464e-03 5.95273119e+01] [ 4.28529118e-03 5.27224389e-05 9.99990817e-01 4.87442890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:142.79, Y:59.55, Z:0.49 [[ 6.62332544e-01 -7.49204759e-01 -2.79820265e-03 1.42785163e+02] [ 7.49197729e-01 6.62338453e-01 -3.24600695e-03 5.95495987e+01] [ 4.28528107e-03 5.35289707e-05 9.99990817e-01 4.94653411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.80, Y:59.57, Z:0.49 [[ 6.60405606e-01 -7.50903862e-01 -2.79750630e-03 1.42801284e+02] [ 7.50896845e-01 6.60411530e-01 -3.24660698e-03 5.95717471e+01] [ 4.28539513e-03 4.34387940e-05 9.99990817e-01 4.88027062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:59.59, Z:0.49 [[ 6.59152131e-01 -7.52004419e-01 -2.79681121e-03 1.42817239e+02] [ 7.51997409e-01 6.59158063e-01 -3.24720566e-03 5.95921098e+01] [ 4.28545366e-03 3.72077421e-05 9.99990817e-01 4.87739320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:59.61, Z:0.49 [[ 6.57659714e-01 -7.53309952e-01 -2.79608106e-03 1.42833819e+02] [ 7.53302951e-01 6.57665657e-01 -3.24783425e-03 5.96127871e+01] [ 4.28551235e-03 2.96736239e-05 9.99990817e-01 4.86815722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:59.63, Z:0.49 [[ 6.55844974e-01 -7.54890427e-01 -2.79535706e-03 1.42850070e+02] [ 7.54883437e-01 6.55850931e-01 -3.24845726e-03 5.96333210e+01] [ 4.28556682e-03 2.03156185e-05 9.99990817e-01 4.87168751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.87, Y:59.65, Z:0.49 [[ 6.52335409e-01 -7.57925263e-01 -2.79466148e-03 1.42867416e+02] [ 7.57918299e-01 6.52341395e-01 -3.24905557e-03 5.96546288e+01] [ 4.28561466e-03 1.34891670e-06 9.99990817e-01 4.87539690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:59.67, Z:0.49 [[ 6.50450888e-01 -7.59543176e-01 -2.79396826e-03 1.42884492e+02] [ 7.59536224e-01 6.50456888e-01 -3.24965158e-03 5.96742096e+01] [ 4.28560658e-03 -8.38135154e-06 9.99990817e-01 4.87555434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.90, Y:59.69, Z:0.49 [[ 6.48474508e-01 -7.61231246e-01 -2.79323915e-03 1.42902022e+02] [ 7.61224307e-01 6.48480524e-01 -3.25027816e-03 5.96943396e+01] [ 4.28557448e-03 -1.85590014e-05 9.99990817e-01 4.87824603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.388623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.92, Y:59.71, Z:0.49 [[ 6.45355966e-01 -7.63876874e-01 -2.79252590e-03 1.42919763e+02] [ 7.63869957e-01 6.45362007e-01 -3.25089084e-03 5.97137532e+01] [ 4.28547046e-03 -3.51448397e-05 9.99990817e-01 4.85916790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:59.73, Z:0.49 [[ 6.44055429e-01 -7.64973732e-01 -2.79177775e-03 1.42938145e+02] [ 7.64966822e-01 6.44061479e-01 -3.25153321e-03 5.97342292e+01] [ 4.28541400e-03 -4.14497366e-05 9.99990817e-01 4.87202519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:59.75, Z:0.49 [[ 6.43091105e-01 -7.65784592e-01 -2.79106662e-03 1.42955963e+02] [ 7.65777687e-01 6.43097160e-01 -3.25214352e-03 5.97535879e+01] [ 4.28536841e-03 -4.59119694e-05 9.99990817e-01 4.86564439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:59.77, Z:0.49 [[ 6.42348520e-01 -7.66407589e-01 -2.79051439e-03 1.42974059e+02] [ 7.66400688e-01 6.42354579e-01 -3.25261730e-03 5.97734813e+01] [ 4.28533027e-03 -4.93382431e-05 9.99990817e-01 4.87026959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.99, Y:59.79, Z:0.49 [[ 6.41813350e-01 -7.66855815e-01 -2.78982003e-03 1.42991864e+02] [ 7.66848916e-01 6.41819411e-01 -3.25321275e-03 5.97931328e+01] [ 4.28530576e-03 -5.14150933e-05 9.99990817e-01 4.86228041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.01, Y:59.81, Z:0.49 [[ 6.41881386e-01 -7.66798870e-01 -2.78928110e-03 1.43010544e+02] [ 7.66791969e-01 6.41887444e-01 -3.25367476e-03 5.98134754e+01] [ 4.28531864e-03 -5.03250870e-05 9.99990817e-01 4.89052366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.03, Y:59.83, Z:0.49 [[ 6.41991734e-01 -7.66706487e-01 -2.78858399e-03 1.43028413e+02] [ 7.66699582e-01 6.41997788e-01 -3.25427211e-03 5.98341613e+01] [ 4.28533629e-03 -4.87903893e-05 9.99990817e-01 4.89628142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:59.85, Z:0.49 [[ 6.42822886e-01 -7.66009768e-01 -2.78789129e-03 1.43046365e+02] [ 7.66002854e-01 6.42828930e-01 -3.25486543e-03 5.98536869e+01] [ 4.28539589e-03 -4.32306970e-05 9.99990817e-01 4.89454843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:59.87, Z:0.49 [[ 6.43287051e-01 -7.65620011e-01 -2.78716402e-03 1.43063389e+02] [ 7.65613091e-01 6.43293088e-01 -3.25548807e-03 5.98729152e+01] [ 4.28543017e-03 -3.96759361e-05 9.99990817e-01 4.89100299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:59.89, Z:0.49 [[ 6.43880655e-01 -7.65120865e-01 -2.78643870e-03 1.43081662e+02] [ 7.65113937e-01 6.43886683e-01 -3.25610877e-03 5.98933366e+01] [ 4.28546753e-03 -3.53976382e-05 9.99990817e-01 4.89002189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:59.91, Z:0.49 [[ 6.44554256e-01 -7.64553497e-01 -2.78575133e-03 1.43098776e+02] [ 7.64546562e-01 6.44560275e-01 -3.25669675e-03 5.99127544e+01] [ 4.28550353e-03 -3.07188504e-05 9.99990817e-01 4.89026603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:59.93, Z:0.49 [[ 6.46453065e-01 -7.62948673e-01 -2.78502962e-03 1.43117317e+02] [ 7.62941720e-01 6.46459064e-01 -3.25731381e-03 5.99323074e+01] [ 4.28557089e-03 -1.91147871e-05 9.99990817e-01 4.90148007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:143.14, Y:59.95, Z:0.49 [[ 6.47482661e-01 -7.62075095e-01 -2.78434174e-03 1.43135165e+02] [ 7.62068132e-01 6.47488648e-01 -3.25790171e-03 5.99526875e+01] [ 4.28559542e-03 -1.24232406e-05 9.99990817e-01 4.90274220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.15, Y:59.97, Z:0.49 [[ 6.48527981e-01 -7.61185726e-01 -2.78363796e-03 1.43151847e+02] [ 7.61178751e-01 6.48533955e-01 -3.25850292e-03 5.99721959e+01] [ 4.28560965e-03 -5.61574880e-06 9.99990817e-01 4.90494433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.17, Y:59.99, Z:0.49 [[ 6.49573222e-01 -7.60293946e-01 -2.78289859e-03 1.43168814e+02] [ 7.60286961e-01 6.49579183e-01 -3.25913425e-03 5.99923670e+01] [ 4.28561304e-03 1.24482579e-06 9.99990817e-01 4.90403694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.838623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.19, Y:60.01, Z:0.49 [[ 6.52330863e-01 -7.57929221e-01 -2.78216906e-03 1.43186430e+02] [ 7.57922212e-01 6.52336796e-01 -3.25975690e-03 6.00131706e+01] [ 4.28557626e-03 1.77723051e-05 9.99990817e-01 4.93876970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:143.20, Y:60.03, Z:0.50 [[ 6.53912089e-01 -7.56565425e-01 -2.78148227e-03 1.43203039e+02] [ 7.56558401e-01 6.53918004e-01 -3.26034282e-03 6.00335184e+01] [ 4.28552399e-03 2.76238095e-05 9.99990817e-01 4.96698896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.22, Y:60.05, Z:0.49 [[ 6.55083217e-01 -7.55551617e-01 -2.78076219e-03 1.43220559e+02] [ 7.55544581e-01 6.55089118e-01 -3.26095686e-03 6.00545052e+01] [ 4.28546828e-03 3.52083126e-05 9.99990817e-01 4.91383784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.24, Y:60.08, Z:0.49 [[ 6.57705365e-01 -7.53270153e-01 -2.78008051e-03 1.43236637e+02] [ 7.53263094e-01 6.57711239e-01 -3.26153792e-03 6.00765271e+01] [ 4.28530936e-03 5.09989417e-05 9.99990817e-01 4.90596314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:60.10, Z:0.49 [[ 6.58605281e-01 -7.52483460e-01 -2.77940279e-03 1.43252914e+02] [ 7.52476392e-01 6.58611144e-01 -3.26211535e-03 6.00975100e+01] [ 4.28523350e-03 5.70114147e-05 9.99990817e-01 4.90256273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:60.12, Z:0.49 [[ 6.58454624e-01 -7.52615298e-01 -2.77869092e-03 1.43270658e+02] [ 7.52608228e-01 6.58460485e-01 -3.26272161e-03 6.01187337e+01] [ 4.28523237e-03 5.70884797e-05 9.99990817e-01 4.90374755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.29, Y:60.14, Z:0.49 [[ 6.59088140e-01 -7.52060574e-01 -2.77803762e-03 1.43287720e+02] [ 7.52053497e-01 6.59093991e-01 -3.26327777e-03 6.01403780e+01] [ 4.28517045e-03 6.15547667e-05 9.99990817e-01 4.90607919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.048623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.30, Y:60.16, Z:0.49 [[ 6.59439992e-01 -7.51752076e-01 -2.77738254e-03 1.43304035e+02] [ 7.51744994e-01 6.59445837e-01 -3.26383521e-03 6.01616007e+01] [ 4.28512825e-03 6.44200491e-05 9.99990817e-01 4.90977126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:60.18, Z:0.49 [[ 6.59348259e-01 -7.51832537e-01 -2.77672046e-03 1.43319944e+02] [ 7.51825453e-01 6.59354103e-01 -3.26439838e-03 6.01826255e+01] [ 4.28512294e-03 6.47662718e-05 9.99990817e-01 4.90325433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:60.20, Z:0.49 [[ 6.58515830e-01 -7.52561755e-01 -2.77602458e-03 1.43334829e+02] [ 7.52554675e-01 6.58521678e-01 -3.26499005e-03 6.02033218e+01] [ 4.28517901e-03 6.09373515e-05 9.99990817e-01 4.89190846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.138623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:143.35, Y:60.22, Z:0.49 [[ 6.57944083e-01 -7.53061672e-01 -2.77527548e-03 1.43351322e+02] [ 7.53054594e-01 6.57949933e-01 -3.26562666e-03 6.02248071e+01] [ 4.28521059e-03 5.86657871e-05 9.99990817e-01 4.94383409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.37, Y:60.25, Z:0.49 [[ 6.56803684e-01 -7.54056511e-01 -2.77458449e-03 1.43367561e+02] [ 7.54049439e-01 6.56809542e-01 -3.26621365e-03 6.02450806e+01] [ 4.28528324e-03 5.30872798e-05 9.99990817e-01 4.89471062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:60.27, Z:0.49 [[ 6.55786535e-01 -7.54941273e-01 -2.77386016e-03 1.43383950e+02] [ 7.54934206e-01 6.55792400e-01 -3.26682868e-03 6.02663023e+01] [ 4.28534021e-03 4.82603458e-05 9.99990817e-01 4.90310129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.40, Y:60.29, Z:0.49 [[ 6.54243986e-01 -7.56278465e-01 -2.77315794e-03 1.43398941e+02] [ 7.56271408e-01 6.54249862e-01 -3.26742467e-03 6.02862230e+01] [ 4.28542111e-03 4.04328832e-05 9.99990817e-01 4.90577498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:143.41, Y:60.31, Z:0.50 [[ 6.53611527e-01 -7.56825135e-01 -2.77259789e-03 1.43414852e+02] [ 7.56818081e-01 6.53617406e-01 -3.26789984e-03 6.03074860e+01] [ 4.28544697e-03 3.75847885e-05 9.99990817e-01 4.95880685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.43, Y:60.33, Z:0.49 [[ 6.52610522e-01 -7.57688474e-01 -2.77189924e-03 1.43431754e+02] [ 7.57681425e-01 6.52616408e-01 -3.26849234e-03 6.03285845e+01] [ 4.28548589e-03 3.28359206e-05 9.99990817e-01 4.93464065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.45, Y:60.35, Z:0.49 [[ 6.51773248e-01 -7.58408830e-01 -2.77120702e-03 1.43448135e+02] [ 7.58401785e-01 6.51779138e-01 -3.26907913e-03 6.03499280e+01] [ 4.28551341e-03 2.90099742e-05 9.99990817e-01 4.93493099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.46, Y:60.37, Z:0.49 [[ 6.50193166e-01 -7.59763892e-01 -2.77051900e-03 1.43463261e+02] [ 7.59756856e-01 6.50199068e-01 -3.26966212e-03 6.03708280e+01] [ 4.28556009e-03 2.09911603e-05 9.99990817e-01 4.91288945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.48, Y:60.39, Z:0.49 [[ 6.49266051e-01 -7.60556324e-01 -2.76998459e-03 1.43480648e+02] [ 7.60549294e-01 6.49271959e-01 -3.27011480e-03 6.03922984e+01] [ 4.28557981e-03 1.64646896e-05 9.99990817e-01 4.90624893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.50, Y:60.41, Z:0.49 [[ 6.48313007e-01 -7.61368883e-01 -2.76928789e-03 1.43497183e+02] [ 7.61361858e-01 6.48318921e-01 -3.27070469e-03 6.04125098e+01] [ 4.28559451e-03 1.20102198e-05 9.99990817e-01 4.89547625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.51, Y:60.43, Z:0.49 [[ 6.46162797e-01 -7.63194586e-01 -2.76855604e-03 1.43513918e+02] [ 7.63187574e-01 6.46168728e-01 -3.27132407e-03 6.04335207e+01] [ 4.28561115e-03 8.80340594e-07 9.99990817e-01 4.91232976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.53, Y:60.45, Z:0.49 [[ 6.44914466e-01 -7.64249744e-01 -2.76783197e-03 1.43529974e+02] [ 7.64242740e-01 6.44920405e-01 -3.27193657e-03 6.04540400e+01] [ 4.28560801e-03 -5.17626103e-06 9.99990817e-01 4.89585593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.55, Y:60.48, Z:0.49 [[ 6.43892022e-01 -7.65111369e-01 -2.76707080e-03 1.43547154e+02] [ 7.65104371e-01 6.43897967e-01 -3.27258017e-03 6.04753221e+01] [ 4.28559956e-03 -9.90970326e-06 9.99990817e-01 4.91457148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:60.50, Z:0.49 [[ 6.41763167e-01 -7.66897897e-01 -2.76640466e-03 1.43563668e+02] [ 7.66890912e-01 6.41769129e-01 -3.27314318e-03 6.04956066e+01] [ 4.28555973e-03 -2.09478568e-05 9.99990817e-01 4.91132978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.58, Y:60.52, Z:0.49 [[ 6.40908050e-01 -7.67612677e-01 -2.76570535e-03 1.43581217e+02] [ 7.67605696e-01 6.40914017e-01 -3.27373397e-03 6.05157397e+01] [ 4.28553902e-03 -2.48087274e-05 9.99990817e-01 4.92605059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.60, Y:60.54, Z:0.49 [[ 6.40153961e-01 -7.68241668e-01 -2.76501276e-03 1.43598343e+02] [ 7.68234691e-01 6.40159932e-01 -3.27431883e-03 6.05355618e+01] [ 4.28551854e-03 -2.81105587e-05 9.99990817e-01 4.91975041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.62, Y:60.56, Z:0.49 [[ 6.39539231e-01 -7.68753491e-01 -2.76428273e-03 1.43616011e+02] [ 7.68746516e-01 6.39545205e-01 -3.27493503e-03 6.05561164e+01] [ 4.28550150e-03 -3.05832880e-05 9.99990817e-01 4.93326169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.63, Y:60.58, Z:0.49 [[ 6.39450588e-01 -7.68827229e-01 -2.76357515e-03 1.43633025e+02] [ 7.68820252e-01 6.39456559e-01 -3.27553202e-03 6.05755368e+01] [ 4.28550446e-03 -3.01516701e-05 9.99990817e-01 4.91079882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:60.60, Z:0.49 [[ 6.39794223e-01 -7.68541293e-01 -2.76283287e-03 1.43650845e+02] [ 7.68534311e-01 6.39800187e-01 -3.27615799e-03 6.05964559e+01] [ 4.28552369e-03 -2.72648967e-05 9.99990817e-01 4.92478951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:60.62, Z:0.49 [[ 6.40092034e-01 -7.68293276e-01 -2.76212657e-03 1.43667846e+02] [ 7.68286289e-01 6.40097993e-01 -3.27675336e-03 6.06170245e+01] [ 4.28553925e-03 -2.46802488e-05 9.99990817e-01 4.91978278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.738623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.68, Y:60.64, Z:0.49 [[ 6.40375099e-01 -7.68057359e-01 -2.76141886e-03 1.43684490e+02] [ 7.68050367e-01 6.40381052e-01 -3.27734967e-03 6.06371112e+01] [ 4.28555284e-03 -2.21756492e-05 9.99990817e-01 4.91470826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:60.66, Z:0.49 [[ 6.41021989e-01 -7.67517550e-01 -2.76067548e-03 1.43702188e+02] [ 7.67510550e-01 6.41027933e-01 -3.27797573e-03 6.06567124e+01] [ 4.28557400e-03 -1.75930385e-05 9.99990817e-01 4.90320309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:60.68, Z:0.49 [[ 6.40992007e-01 -7.67542591e-01 -2.75994345e-03 1.43719832e+02] [ 7.67535589e-01 6.40997949e-01 -3.27859195e-03 6.06767871e+01] [ 4.28557706e-03 -1.68035890e-05 9.99990817e-01 4.90672584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.74, Y:60.70, Z:0.49 [[ 6.40877291e-01 -7.67638381e-01 -2.75925405e-03 1.43738098e+02] [ 7.67631377e-01 6.40883231e-01 -3.27917205e-03 6.06974270e+01] [ 4.28557798e-03 -1.65430840e-05 9.99990817e-01 4.91179541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.858623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.76, Y:60.72, Z:0.49 [[ 6.40342292e-01 -7.68084722e-01 -2.75855072e-03 1.43757181e+02] [ 7.68077720e-01 6.40348233e-01 -3.27976362e-03 6.07164527e+01] [ 4.28556940e-03 -1.86099922e-05 9.99990817e-01 4.91105895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:60.74, Z:0.49 [[ 6.40077693e-01 -7.68305239e-01 -2.75784980e-03 1.43774464e+02] [ 7.68298237e-01 6.40083634e-01 -3.28035288e-03 6.07357791e+01] [ 4.28556683e-03 -1.91704351e-05 9.99990817e-01 4.90214297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:60.76, Z:0.49 [[ 6.39815346e-01 -7.68523728e-01 -2.75711328e-03 1.43792338e+02] [ 7.68516725e-01 6.39821287e-01 -3.28097181e-03 6.07561029e+01] [ 4.28556445e-03 -1.96715500e-05 9.99990817e-01 4.90355535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:60.78, Z:0.49 [[ 6.39653574e-01 -7.68658381e-01 -2.75641791e-03 1.43810559e+02] [ 7.68651377e-01 6.39659513e-01 -3.28155590e-03 6.07761447e+01] [ 4.28556439e-03 -1.96654588e-05 9.99990817e-01 4.89819566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.83, Y:60.79, Z:0.49 [[ 6.39846536e-01 -7.68497766e-01 -2.75572417e-03 1.43829067e+02] [ 7.68490758e-01 6.39852470e-01 -3.28213838e-03 6.07943499e+01] [ 4.28557293e-03 -1.76836852e-05 9.99990817e-01 4.89998340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:60.81, Z:0.49 [[ 6.40253076e-01 -7.68159104e-01 -2.75499760e-03 1.43846722e+02] [ 7.68152090e-01 6.40259003e-01 -3.28274814e-03 6.08145036e+01] [ 4.28558488e-03 -1.44675754e-05 9.99990817e-01 4.90307560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.86, Y:60.83, Z:0.49 [[ 6.40842690e-01 -7.67667285e-01 -2.75430659e-03 1.43864065e+02] [ 7.67660264e-01 6.40848609e-01 -3.28332781e-03 6.08342773e+01] [ 4.28559689e-03 -1.02750944e-05 9.99990817e-01 4.90304383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.88, Y:60.85, Z:0.49 [[ 6.41576905e-01 -7.67053774e-01 -2.75358272e-03 1.43881643e+02] [ 7.67046745e-01 6.41582814e-01 -3.28393478e-03 6.08543515e+01] [ 4.28560591e-03 -5.22994888e-06 9.99990817e-01 4.90754491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:143.90, Y:60.87, Z:0.50 [[ 6.43830212e-01 -7.65163433e-01 -2.75286795e-03 1.43900046e+02] [ 7.65156384e-01 6.43836097e-01 -3.28453385e-03 6.08746360e+01] [ 4.28560095e-03 8.30763790e-06 9.99990817e-01 4.97988126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.92, Y:60.89, Z:0.49 [[ 6.44590679e-01 -7.64522912e-01 -2.75215160e-03 1.43917597e+02] [ 7.64515854e-01 6.44596554e-01 -3.28513398e-03 6.08947028e+01] [ 4.28558763e-03 1.35032131e-05 9.99990817e-01 4.93034194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:60.92, Z:0.49 [[ 6.45567447e-01 -7.63698305e-01 -2.75140181e-03 1.43935469e+02] [ 7.63691237e-01 6.45573309e-01 -3.28576183e-03 6.09152237e+01] [ 4.28556231e-03 1.99594166e-05 9.99990817e-01 4.94077213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.95, Y:60.93, Z:0.49 [[ 6.46498821e-01 -7.62910026e-01 -2.75069046e-03 1.43952940e+02] [ 7.62902948e-01 6.46504672e-01 -3.28635723e-03 6.09347296e+01] [ 4.28552911e-03 2.61162125e-05 9.99990817e-01 4.94628175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:60.95, Z:0.50 [[ 6.47734528e-01 -7.61861154e-01 -2.74994300e-03 1.43971238e+02] [ 7.61854064e-01 6.47740365e-01 -3.28698257e-03 6.09547560e+01] [ 4.28547341e-03 3.40368489e-05 9.99990817e-01 4.96426673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:60.97, Z:0.50 [[ 6.48184386e-01 -7.61478459e-01 -2.74924423e-03 1.43988530e+02] [ 7.61471363e-01 6.48190216e-01 -3.28756692e-03 6.09747206e+01] [ 4.28544460e-03 3.74787971e-05 9.99990817e-01 4.96201137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:61.00, Z:0.50 [[ 6.48548856e-01 -7.61168068e-01 -2.74851097e-03 1.44006484e+02] [ 7.61160966e-01 6.48554679e-01 -3.28817983e-03 6.09952333e+01] [ 4.28541714e-03 4.04859972e-05 9.99990817e-01 4.95665937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:144.02, Y:61.02, Z:0.49 [[ 6.48883869e-01 -7.60882497e-01 -2.74782041e-03 1.44024988e+02] [ 7.60875390e-01 6.48889686e-01 -3.28875680e-03 6.10153240e+01] [ 4.28538981e-03 4.32723108e-05 9.99990817e-01 4.94481412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:61.03, Z:0.49 [[ 6.48954578e-01 -7.60822193e-01 -2.74708933e-03 1.44042348e+02] [ 7.60815084e-01 6.48960390e-01 -3.28936736e-03 6.10349723e+01] [ 4.28537586e-03 4.46230098e-05 9.99990817e-01 4.92733828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.06, Y:61.06, Z:0.49 [[ 6.48875782e-01 -7.60889398e-01 -2.74652503e-03 1.44059736e+02] [ 7.60882287e-01 6.48881593e-01 -3.28983847e-03 6.10553023e+01] [ 4.28537275e-03 4.49142651e-05 9.99990817e-01 4.92545898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.08, Y:61.08, Z:0.49 [[ 6.48992257e-01 -7.60790057e-01 -2.74581953e-03 1.44076885e+02] [ 7.60782943e-01 6.48998064e-01 -3.29042720e-03 6.10753251e+01] [ 4.28535586e-03 4.64891103e-05 9.99990817e-01 4.92482018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:61.10, Z:0.49 [[ 6.49040114e-01 -7.60749233e-01 -2.74507672e-03 1.44093964e+02] [ 7.60742116e-01 6.49045917e-01 -3.29104678e-03 6.10961914e+01] [ 4.28534215e-03 4.77259042e-05 9.99990817e-01 4.93365324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:61.12, Z:0.49 [[ 6.49125005e-01 -7.60676801e-01 -2.74439468e-03 1.44111064e+02] [ 7.60669681e-01 6.49130805e-01 -3.29161544e-03 6.11164811e+01] [ 4.28532663e-03 4.90920635e-05 9.99990817e-01 4.93770341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.488623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:144.13, Y:61.14, Z:0.49 [[ 6.49329505e-01 -7.60502246e-01 -2.74367926e-03 1.44128403e+02] [ 7.60495122e-01 6.49335300e-01 -3.29221165e-03 6.11375421e+01] [ 4.28530215e-03 5.11754721e-05 9.99990817e-01 4.94251491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.14, Y:61.16, Z:0.49 [[ 6.50330051e-01 -7.59646827e-01 -2.74298151e-03 1.44144649e+02] [ 7.59639692e-01 6.50335833e-01 -3.29279290e-03 6.11579916e+01] [ 4.28521884e-03 5.77245412e-05 9.99990817e-01 4.94153784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.16, Y:61.18, Z:0.49 [[ 6.50764574e-01 -7.59274620e-01 -2.74224854e-03 1.44161011e+02] [ 7.59267480e-01 6.50770349e-01 -3.29340320e-03 6.11791743e+01] [ 4.28517151e-03 6.11299938e-05 9.99990817e-01 4.94241371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.578623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.18, Y:61.20, Z:0.49 [[ 6.51102589e-01 -7.58984784e-01 -2.74155217e-03 1.44177395e+02] [ 7.58977639e-01 6.51108357e-01 -3.29398279e-03 6.12010158e+01] [ 4.28513035e-03 6.39439238e-05 9.99990817e-01 4.94163323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.608623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.19, Y:61.22, Z:0.49 [[ 6.51971699e-01 -7.58238348e-01 -2.74085077e-03 1.44192322e+02] [ 7.58231193e-01 6.51977456e-01 -3.29456630e-03 6.12230786e+01] [ 4.28503942e-03 6.97654402e-05 9.99990817e-01 4.94236386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.638623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:144.21, Y:61.24, Z:0.49 [[ 6.51943535e-01 -7.58262566e-01 -2.74011490e-03 1.44209084e+02] [ 7.58255409e-01 6.51949290e-01 -3.29517822e-03 6.12445037e+01] [ 4.28502625e-03 7.05631877e-05 9.99990817e-01 4.94896816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:61.26, Z:0.50 [[ 6.51545827e-01 -7.58604331e-01 -2.73942251e-03 1.44225060e+02] [ 7.58597175e-01 6.51551582e-01 -3.29575373e-03 6.12647953e+01] [ 4.28504813e-03 6.92164119e-05 9.99990817e-01 4.95307425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.24, Y:61.29, Z:0.50 [[ 6.51023772e-01 -7.59052400e-01 -2.73888718e-03 1.44241549e+02] [ 7.59045246e-01 6.51029530e-01 -3.29619855e-03 6.12859538e+01] [ 4.28508385e-03 6.69643168e-05 9.99990817e-01 4.96227746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.26, Y:61.31, Z:0.50 [[ 6.49663353e-01 -7.60217094e-01 -2.73820009e-03 1.44257773e+02] [ 7.60209948e-01 6.49669121e-01 -3.29676923e-03 6.13068975e+01] [ 4.28518437e-03 6.01832041e-05 9.99990817e-01 4.95436440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:61.33, Z:0.49 [[ 6.48565815e-01 -7.61153656e-01 -2.73766696e-03 1.44274170e+02] [ 7.61146517e-01 6.48571591e-01 -3.29721188e-03 6.13275816e+01] [ 4.28525790e-03 5.46932419e-05 9.99990817e-01 4.94929478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:61.35, Z:0.49 [[ 6.47505325e-01 -7.62056010e-01 -2.73713610e-03 1.44290147e+02] [ 7.62048877e-01 6.47511108e-01 -3.29765251e-03 6.13487788e+01] [ 4.28532194e-03 4.94160644e-05 9.99990817e-01 4.94597968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.31, Y:61.37, Z:0.49 [[ 6.45003340e-01 -7.64174851e-01 -2.73642150e-03 1.44306631e+02] [ 7.64167734e-01 6.45009144e-01 -3.29824539e-03 6.13708412e+01] [ 4.28545306e-03 3.62942729e-05 9.99990817e-01 4.94844024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:61.39, Z:0.49 [[ 6.43371880e-01 -7.65548914e-01 -2.73570441e-03 1.44323610e+02] [ 7.65541807e-01 6.43377696e-01 -3.29884006e-03 6.13913455e+01] [ 4.28551463e-03 2.80848331e-05 9.99990817e-01 4.93753498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:61.41, Z:0.49 [[ 6.43215144e-01 -7.65680611e-01 -2.73495012e-03 1.44341076e+02] [ 7.65673503e-01 6.43220958e-01 -3.29946530e-03 6.14127997e+01] [ 4.28551384e-03 2.81872157e-05 9.99990817e-01 4.93871977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:61.43, Z:0.50 [[ 6.41544850e-01 -7.67080654e-01 -2.73427453e-03 1.44358487e+02] [ 7.67073556e-01 6.41550676e-01 -3.30002507e-03 6.14335468e+01] [ 4.28556106e-03 1.97243990e-05 9.99990817e-01 4.95001054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.38, Y:61.45, Z:0.49 [[ 6.39929694e-01 -7.68428601e-01 -2.73356504e-03 1.44375466e+02] [ 7.68421512e-01 6.39935532e-01 -3.30061266e-03 6.14540330e+01] [ 4.28559057e-03 1.16298699e-05 9.99990817e-01 4.94284922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:61.48, Z:0.49 [[ 6.37336513e-01 -7.70580755e-01 -2.73301528e-03 1.44392429e+02] [ 7.70573684e-01 6.37342373e-01 -3.30106782e-03 6.14751207e+01] [ 4.28560578e-03 -2.09860138e-06 9.99990817e-01 4.94969497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.41, Y:61.50, Z:0.50 [[ 6.36296598e-01 -7.71439676e-01 -2.73231402e-03 1.44409087e+02] [ 7.71432611e-01 6.36302464e-01 -3.30164816e-03 6.14960202e+01] [ 4.28560053e-03 -6.96865165e-06 9.99990817e-01 4.95668211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.43, Y:61.52, Z:0.50 [[ 6.35629282e-01 -7.71989608e-01 -2.73159949e-03 1.44426423e+02] [ 7.71982545e-01 6.35635151e-01 -3.30223921e-03 6.15175482e+01] [ 4.28559501e-03 -9.74718832e-06 9.99990817e-01 4.96054569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.44, Y:61.54, Z:0.50 [[ 6.35292058e-01 -7.72267145e-01 -2.73088034e-03 1.44442874e+02] [ 7.72260083e-01 6.35297927e-01 -3.30283383e-03 6.15377896e+01] [ 4.28559267e-03 -1.06857767e-05 9.99990817e-01 4.96403064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:61.56, Z:0.50 [[ 6.35414301e-01 -7.72166571e-01 -2.73012331e-03 1.44459570e+02] [ 7.72159504e-01 6.35420166e-01 -3.30345947e-03 6.15594079e+01] [ 4.28559638e-03 -9.02527856e-06 9.99990817e-01 4.97142370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.48, Y:61.58, Z:0.50 [[ 6.35844824e-01 -7.71812095e-01 -2.72940350e-03 1.44475986e+02] [ 7.71805023e-01 6.35850682e-01 -3.30405409e-03 6.15815575e+01] [ 4.28560199e-03 -5.70164469e-06 9.99990817e-01 5.03318099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:61.60, Z:0.50 [[ 6.36205974e-01 -7.71514428e-01 -2.72867833e-03 1.44492627e+02] [ 7.71507351e-01 6.36211826e-01 -3.30465287e-03 6.16022284e+01] [ 4.28560479e-03 -2.75549037e-06 9.99990817e-01 4.97772226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:61.62, Z:0.50 [[ 6.37047990e-01 -7.70819315e-01 -2.72791823e-03 1.44509089e+02] [ 7.70812229e-01 6.37053831e-01 -3.30528020e-03 6.16237962e+01] [ 4.28560458e-03 2.90937894e-06 9.99990817e-01 4.98159893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:61.65, Z:0.50 [[ 6.37249407e-01 -7.70652812e-01 -2.72721122e-03 1.44525033e+02] [ 7.70645721e-01 6.37255242e-01 -3.30586345e-03 6.16453742e+01] [ 4.28560261e-03 4.94586005e-06 9.99990817e-01 4.97968387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:61.67, Z:0.50 [[ 6.37409300e-01 -7.70520571e-01 -2.72649905e-03 1.44540711e+02] [ 7.70513477e-01 6.37415131e-01 -3.30645070e-03 6.16666459e+01] [ 4.28560004e-03 6.75816281e-06 9.99990817e-01 4.96694840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:61.69, Z:0.50 [[ 6.37208494e-01 -7.70686645e-01 -2.72594882e-03 1.44556495e+02] [ 7.70679550e-01 6.37214325e-01 -3.30690427e-03 6.16874379e+01] [ 4.28560059e-03 6.35448168e-06 9.99990817e-01 4.96247262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.57, Y:61.71, Z:0.50 [[ 6.36568455e-01 -7.71215389e-01 -2.72523656e-03 1.44572585e+02] [ 7.71208296e-01 6.36574288e-01 -3.30749115e-03 6.17091412e+01] [ 4.28560359e-03 3.71948495e-06 9.99990817e-01 4.98240460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:61.73, Z:0.50 [[ 6.35914347e-01 -7.71754831e-01 -2.72451507e-03 1.44588343e+02] [ 7.71747741e-01 6.35920184e-01 -3.30808536e-03 6.17299656e+01] [ 4.28560498e-03 1.02059140e-06 9.99990817e-01 4.98428720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.358623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:144.60, Y:61.75, Z:0.50 [[ 6.35205888e-01 -7.72338049e-01 -2.72375488e-03 1.44604272e+02] [ 7.72330961e-01 6.35211727e-01 -3.30871115e-03 6.17512373e+01] [ 4.28560456e-03 -1.92742171e-06 9.99990817e-01 5.04152130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.62, Y:61.77, Z:0.50 [[ 6.34270996e-01 -7.73106000e-01 -2.72321602e-03 1.44621430e+02] [ 7.73098918e-01 6.34276842e-01 -3.30915460e-03 6.17723550e+01] [ 4.28560013e-03 -6.41457407e-06 9.99990817e-01 4.99439599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.64, Y:61.79, Z:0.50 [[ 6.32638781e-01 -7.74442225e-01 -2.72252488e-03 1.44637804e+02] [ 7.74435153e-01 6.32644639e-01 -3.30972312e-03 6.17927230e+01] [ 4.28558011e-03 -1.45597734e-05 9.99990817e-01 4.98699611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:61.81, Z:0.50 [[ 6.31542872e-01 -7.75336180e-01 -2.72179739e-03 1.44654555e+02] [ 7.75329114e-01 6.31548737e-01 -3.31032127e-03 6.18136593e+01] [ 4.28555956e-03 -1.96789556e-05 9.99990817e-01 4.98658004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.67, Y:61.83, Z:0.50 [[ 6.30369208e-01 -7.76290704e-01 -2.72111424e-03 1.44671680e+02] [ 7.76283644e-01 6.30375081e-01 -3.31088273e-03 6.18341775e+01] [ 4.28553010e-03 -2.52779541e-05 9.99990817e-01 4.99009799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.69, Y:61.85, Z:0.50 [[ 6.28276640e-01 -7.77985259e-01 -2.72041793e-03 1.44689532e+02] [ 7.77978212e-01 6.28282529e-01 -3.31145476e-03 6.18547102e+01] [ 4.28545405e-03 -3.59162039e-05 9.99990817e-01 4.97243870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:61.87, Z:0.50 [[ 6.27115395e-01 -7.78921616e-01 -2.71969383e-03 1.44706643e+02] [ 7.78914576e-01 6.27121291e-01 -3.31204936e-03 6.18747100e+01] [ 4.28540475e-03 -4.13720237e-05 9.99990817e-01 4.96776284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.72, Y:61.89, Z:0.50 [[ 6.26011298e-01 -7.79809247e-01 -2.71893693e-03 1.44724177e+02] [ 7.79802212e-01 6.26017201e-01 -3.31267060e-03 6.18947506e+01] [ 4.28535245e-03 -4.64638074e-05 9.99990817e-01 4.96477651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:144.74, Y:61.91, Z:0.50 [[ 6.24262567e-01 -7.81209868e-01 -2.71838416e-03 1.44742526e+02] [ 7.81202844e-01 6.24268483e-01 -3.31312415e-03 6.19141720e+01] [ 4.28524683e-03 -5.53500510e-05 9.99990817e-01 4.96286000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.76, Y:61.93, Z:0.50 [[ 6.23550202e-01 -7.81778588e-01 -2.71763986e-03 1.44759841e+02] [ 7.81771567e-01 6.23556121e-01 -3.31373455e-03 6.19347115e+01] [ 4.28520769e-03 -5.82937279e-05 9.99990817e-01 4.96343320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.78, Y:61.96, Z:0.50 [[ 6.23272947e-01 -7.81999650e-01 -2.71693387e-03 1.44777069e+02] [ 7.81992628e-01 6.23278866e-01 -3.31431329e-03 6.19553892e+01] [ 4.28519930e-03 -5.89004474e-05 9.99990817e-01 4.96391348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:61.98, Z:0.50 [[ 6.23293595e-01 -7.81983195e-01 -2.71622635e-03 1.44794293e+02] [ 7.81976171e-01 6.23299511e-01 -3.31489304e-03 6.19765575e+01] [ 4.28521320e-03 -5.78726825e-05 9.99990817e-01 4.95987217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.81, Y:62.00, Z:0.50 [[ 6.23453092e-01 -7.81856040e-01 -2.71552113e-03 1.44811405e+02] [ 7.81849013e-01 6.23459003e-01 -3.31547064e-03 6.19970190e+01] [ 4.28523685e-03 -5.60870948e-05 9.99990817e-01 4.96244260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74862385300003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:144.83, Y:62.02, Z:0.50 [[ 6.24287624e-01 -7.81189857e-01 -2.71481858e-03 1.44829681e+02] [ 7.81182821e-01 6.24293524e-01 -3.31604581e-03 6.20174570e+01] [ 4.28530502e-03 -5.06032770e-05 9.99990817e-01 5.00839608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.85, Y:62.04, Z:0.50 [[ 6.24841718e-01 -7.80746733e-01 -2.71408518e-03 1.44847153e+02] [ 7.80739690e-01 6.24847610e-01 -3.31664598e-03 6.20370586e+01] [ 4.28535015e-03 -4.66152525e-05 9.99990817e-01 4.95135427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.86, Y:62.06, Z:0.50 [[ 6.25471158e-01 -7.80242571e-01 -2.71331159e-03 1.44864175e+02] [ 7.80235520e-01 6.25477041e-01 -3.31727872e-03 6.20581198e+01] [ 4.28539618e-03 -4.21599141e-05 9.99990817e-01 4.96023299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.88, Y:62.08, Z:0.50 [[ 6.26809208e-01 -7.79168055e-01 -2.71262132e-03 1.44880030e+02] [ 7.79160992e-01 6.26815077e-01 -3.31784307e-03 6.20792678e+01] [ 4.28546928e-03 -3.39141330e-05 9.99990817e-01 4.98194989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:62.10, Z:0.50 [[ 6.27329482e-01 -7.78749232e-01 -2.71189603e-03 1.44895843e+02] [ 7.78742162e-01 6.27335343e-01 -3.31843580e-03 6.20997101e+01] [ 4.28549755e-03 -3.01151645e-05 9.99990817e-01 4.99216688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.91, Y:62.12, Z:0.50 [[ 6.27721287e-01 -7.78433450e-01 -2.71113472e-03 1.44911408e+02] [ 7.78426374e-01 6.27727141e-01 -3.31905767e-03 6.21194294e+01] [ 4.28551835e-03 -2.69756169e-05 9.99990817e-01 4.99708945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.93, Y:62.14, Z:0.50 [[ 6.27849992e-01 -7.78329649e-01 -2.71034089e-03 1.44928562e+02] [ 7.78322570e-01 6.27855841e-01 -3.31970577e-03 6.21401414e+01] [ 4.28552879e-03 -2.52422457e-05 9.99990817e-01 5.01108116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.95, Y:62.16, Z:0.50 [[ 6.27848466e-01 -7.78330882e-01 -2.70961270e-03 1.44946218e+02] [ 7.78323800e-01 6.27854313e-01 -3.32030004e-03 6.21602350e+01] [ 4.28553407e-03 -2.43107643e-05 9.99990817e-01 5.01409947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.988623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.96, Y:62.18, Z:0.50 [[ 6.27645461e-01 -7.78494597e-01 -2.70888328e-03 1.44962681e+02] [ 7.78487514e-01 6.27651306e-01 -3.32089503e-03 6.21801746e+01] [ 4.28553297e-03 -2.44871183e-05 9.99990817e-01 5.01656232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.98, Y:62.20, Z:0.50 [[ 6.27314913e-01 -7.78760980e-01 -2.70831885e-03 1.44978848e+02] [ 7.78753898e-01 6.27320759e-01 -3.32135528e-03 6.22003008e+01] [ 4.28552653e-03 -2.55781673e-05 9.99990817e-01 5.00507730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.99, Y:62.22, Z:0.50 [[ 6.27288755e-01 -7.78782053e-01 -2.70756289e-03 1.44993771e+02] [ 7.78774969e-01 6.27294598e-01 -3.32197142e-03 6.22203327e+01] [ 4.28553130e-03 -2.47468833e-05 9.99990817e-01 5.00469573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:62.24, Z:0.50 [[ 6.27174884e-01 -7.78873763e-01 -2.70678448e-03 1.45010611e+02] [ 7.78866676e-01 6.27180725e-01 -3.32260556e-03 6.22418861e+01] [ 4.28553335e-03 -2.43694725e-05 9.99990817e-01 5.01435948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.108623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.03, Y:62.26, Z:0.50 [[ 6.27100064e-01 -7.78934007e-01 -2.70609250e-03 1.45027658e+02] [ 7.78926919e-01 6.27105902e-01 -3.32316905e-03 6.22634067e+01] [ 4.28553596e-03 -2.38887671e-05 9.99990817e-01 5.02347722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:62.28, Z:0.50 [[ 6.27064130e-01 -7.78962938e-01 -2.70536664e-03 1.45044505e+02] [ 7.78955847e-01 6.27069965e-01 -3.32375986e-03 6.22840252e+01] [ 4.28553991e-03 -2.31505825e-05 9.99990817e-01 5.01672528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.168623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.06, Y:62.30, Z:0.50 [[ 6.26827360e-01 -7.79153481e-01 -2.70460497e-03 1.45060751e+02] [ 7.79146389e-01 6.26833194e-01 -3.32437953e-03 6.23040693e+01] [ 4.28553805e-03 -2.34711484e-05 9.99990817e-01 5.00365593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.08, Y:62.33, Z:0.50 [[ 6.26497695e-01 -7.79418583e-01 -2.70386944e-03 1.45077807e+02] [ 7.79411491e-01 6.26503529e-01 -3.32497766e-03 6.23258295e+01] [ 4.28553312e-03 -2.43360745e-05 9.99990817e-01 5.01893314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.09, Y:62.35, Z:0.50 [[ 6.25692209e-01 -7.80065352e-01 -2.70312027e-03 1.45093768e+02] [ 7.80058263e-01 6.25698047e-01 -3.32558660e-03 6.23468501e+01] [ 4.28551196e-03 -2.77976802e-05 9.99990817e-01 5.00950631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:62.37, Z:0.50 [[ 6.25144872e-01 -7.80504059e-01 -2.70233159e-03 1.45110905e+02] [ 7.80496972e-01 6.25150712e-01 -3.32622736e-03 6.23683823e+01] [ 4.28549847e-03 -2.97876435e-05 9.99990817e-01 5.01208314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.13, Y:62.39, Z:0.50 [[ 6.24565230e-01 -7.80967973e-01 -2.70162979e-03 1.45127964e+02] [ 7.80960888e-01 6.24571072e-01 -3.32679727e-03 6.23896210e+01] [ 4.28548194e-03 -3.20652916e-05 9.99990817e-01 5.01858526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:62.41, Z:0.50 [[ 6.24207417e-01 -7.81253996e-01 -2.70089137e-03 1.45144595e+02] [ 7.81246911e-01 6.24213259e-01 -3.32739666e-03 6.24103438e+01] [ 4.28547414e-03 -3.30773662e-05 9.99990817e-01 5.00993000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.16, Y:62.43, Z:0.50 [[ 6.23854019e-01 -7.81536226e-01 -2.70011658e-03 1.45161566e+02] [ 7.81529141e-01 6.23859861e-01 -3.32802527e-03 6.24314306e+01] [ 4.28546666e-03 -3.40178510e-05 9.99990817e-01 5.01438585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.18, Y:62.45, Z:0.50 [[ 6.23396405e-01 -7.81901295e-01 -2.69941791e-03 1.45178508e+02] [ 7.81894211e-01 6.23402248e-01 -3.32859187e-03 6.24525090e+01] [ 4.28545349e-03 -3.56270272e-05 9.99990817e-01 5.02936330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:145.19, Y:62.47, Z:0.51 [[ 6.22929738e-01 -7.82273135e-01 -2.69869033e-03 1.45194115e+02] [ 7.82266052e-01 6.22935583e-01 -3.32918166e-03 6.24734159e+01] [ 4.28543961e-03 -3.72475676e-05 9.99990817e-01 5.10414226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.21, Y:62.49, Z:0.50 [[ 6.22453645e-01 -7.82652018e-01 -2.69792544e-03 1.45211440e+02] [ 7.82644935e-01 6.22459491e-01 -3.32980140e-03 6.24941266e+01] [ 4.28542508e-03 -3.88706583e-05 9.99990817e-01 5.04852667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.23, Y:62.52, Z:0.51 [[ 6.21561855e-01 -7.83360444e-01 -2.69719962e-03 1.45227437e+02] [ 7.83353366e-01 6.21567705e-01 -3.33038923e-03 6.25152578e+01] [ 4.28538736e-03 -4.28174912e-05 9.99990817e-01 5.05363502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.24, Y:62.54, Z:0.51 [[ 6.20756335e-01 -7.83998917e-01 -2.69643445e-03 1.45244373e+02] [ 7.83991842e-01 6.20762190e-01 -3.33100863e-03 6.25366529e+01] [ 4.28535171e-03 -4.62379007e-05 9.99990817e-01 5.05662797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.26, Y:62.56, Z:0.51 [[ 6.19439848e-01 -7.85039494e-01 -2.69573315e-03 1.45260674e+02] [ 7.85032426e-01 6.19445712e-01 -3.33157608e-03 6.25572668e+01] [ 4.28527914e-03 -5.25269596e-05 9.99990817e-01 5.05878079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.558623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.28, Y:62.58, Z:0.50 [[ 6.16965357e-01 -7.86985696e-01 -2.69500009e-03 1.45278180e+02] [ 7.86978644e-01 6.16971239e-01 -3.33216897e-03 6.25774687e+01] [ 4.28510686e-03 -6.50746948e-05 9.99990817e-01 5.04674052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.30, Y:62.60, Z:0.50 [[ 6.15849698e-01 -7.87859055e-01 -2.69429679e-03 1.45295004e+02] [ 7.87852009e-01 6.15855587e-01 -3.33273754e-03 6.25974534e+01] [ 4.28502518e-03 -7.02417274e-05 9.99990817e-01 5.03882204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:62.62, Z:0.50 [[ 6.14892532e-01 -7.88606314e-01 -2.69355718e-03 1.45312162e+02] [ 7.88599273e-01 6.14898427e-01 -3.33333519e-03 6.26182206e+01] [ 4.28495325e-03 -7.44943198e-05 9.99990817e-01 5.04660241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:62.64, Z:0.50 [[ 6.14086969e-01 -7.89233770e-01 -2.69285148e-03 1.45328134e+02] [ 7.89226732e-01 6.14092868e-01 -3.33390520e-03 6.26383244e+01] [ 4.28489146e-03 -7.79626370e-05 9.99990817e-01 5.04568029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.678623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:145.34, Y:62.66, Z:0.51 [[ 6.13388212e-01 -7.89776965e-01 -2.69211082e-03 1.45344203e+02] [ 7.89769930e-01 6.13394114e-01 -3.33450317e-03 6.26597167e+01] [ 4.28483872e-03 -8.08032437e-05 9.99990817e-01 5.11541977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:62.68, Z:0.51 [[ 6.12427048e-01 -7.90522528e-01 -2.69139051e-03 1.45361769e+02] [ 7.90515498e-01 6.12432956e-01 -3.33508446e-03 6.26802711e+01] [ 4.28475564e-03 -8.50899816e-05 9.99990817e-01 5.06827138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.738623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.38, Y:62.70, Z:0.51 [[ 6.11901298e-01 -7.90929555e-01 -2.69067034e-03 1.45378502e+02] [ 7.90922526e-01 6.11907208e-01 -3.33566537e-03 6.27008570e+01] [ 4.28471690e-03 -8.70138102e-05 9.99990817e-01 5.07117989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:62.72, Z:0.51 [[ 6.10829050e-01 -7.91757940e-01 -2.68991153e-03 1.45395478e+02] [ 7.91750917e-01 6.10834966e-01 -3.33627717e-03 6.27211762e+01] [ 4.28461596e-03 -9.18449042e-05 9.99990817e-01 5.07705498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.41, Y:62.74, Z:0.51 [[ 6.10646372e-01 -7.91898843e-01 -2.68914140e-03 1.45412093e+02] [ 7.91891817e-01 6.10652286e-01 -3.33689780e-03 6.27422470e+01] [ 4.28461585e-03 -9.18445389e-05 9.99990817e-01 5.07820408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.43, Y:62.76, Z:0.51 [[ 6.09956651e-01 -7.92430222e-01 -2.68837142e-03 1.45428292e+02] [ 7.92423199e-01 6.09962568e-01 -3.33751802e-03 6.27624853e+01] [ 4.28455608e-03 -9.45865648e-05 9.99990817e-01 5.07780697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:62.78, Z:0.51 [[ 6.09326900e-01 -7.92914564e-01 -2.68760304e-03 1.45445696e+02] [ 7.92907543e-01 6.09332819e-01 -3.33813666e-03 6.27833340e+01] [ 4.28450191e-03 -9.70042610e-05 9.99990817e-01 5.08150704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:62.80, Z:0.51 [[ 6.08780228e-01 -7.93334365e-01 -2.68688207e-03 1.45462329e+02] [ 7.93327346e-01 6.08786149e-01 -3.33871687e-03 6.28035184e+01] [ 4.28445542e-03 -9.90322059e-05 9.99990817e-01 5.07214296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.48, Y:62.82, Z:0.51 [[ 6.07924811e-01 -7.93990055e-01 -2.68632292e-03 1.45479898e+02] [ 7.93983040e-01 6.07930738e-01 -3.33916670e-03 6.28237485e+01] [ 4.28436343e-03 -1.02932549e-04 9.99990817e-01 5.07518824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.50, Y:62.84, Z:0.51 [[ 6.07616000e-01 -7.94226406e-01 -2.68561739e-03 1.45497392e+02] [ 7.94219391e-01 6.07621926e-01 -3.33973405e-03 6.28445003e+01] [ 4.28434498e-03 -1.03693557e-04 9.99990817e-01 5.08197022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.51, Y:62.86, Z:0.51 [[ 6.07398965e-01 -7.94392402e-01 -2.68494879e-03 1.45514309e+02] [ 7.94385387e-01 6.07404890e-01 -3.34027147e-03 6.28644412e+01] [ 4.28433731e-03 -1.04006651e-04 9.99990817e-01 5.08626992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:62.88, Z:0.51 [[ 6.07186502e-01 -7.94554810e-01 -2.68420125e-03 1.45531552e+02] [ 7.94547793e-01 6.07192427e-01 -3.34087209e-03 6.28847575e+01] [ 4.28433265e-03 -1.04193739e-04 9.99990817e-01 5.09211558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.55, Y:62.91, Z:0.51 [[ 6.07135131e-01 -7.94594068e-01 -2.68346365e-03 1.45549759e+02] [ 7.94587048e-01 6.07141052e-01 -3.34146443e-03 6.29054090e+01] [ 4.28434876e-03 -1.03525019e-04 9.99990817e-01 5.10311041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:62.93, Z:0.51 [[ 6.07117272e-01 -7.94607715e-01 -2.68275522e-03 1.45567594e+02] [ 7.94600694e-01 6.07123190e-01 -3.34203311e-03 6.29264910e+01] [ 4.28436821e-03 -1.02713133e-04 9.99990817e-01 5.10164420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.58, Y:62.95, Z:0.51 [[ 6.07196723e-01 -7.94547007e-01 -2.68204475e-03 1.45584446e+02] [ 7.94539982e-01 6.07202638e-01 -3.34260318e-03 6.29460532e+01] [ 4.28440000e-03 -1.01374085e-04 9.99990817e-01 5.09614589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.60, Y:62.97, Z:0.51 [[ 6.07524719e-01 -7.94296246e-01 -2.68129519e-03 1.45602506e+02] [ 7.94289216e-01 6.07530628e-01 -3.34320434e-03 6.29664310e+01] [ 4.28446361e-03 -9.86445777e-05 9.99990817e-01 5.08660727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:62.99, Z:0.51 [[ 6.07713131e-01 -7.94152105e-01 -2.68059107e-03 1.45620036e+02] [ 7.94145071e-01 6.07719035e-01 -3.34376881e-03 6.29869983e+01] [ 4.28450726e-03 -9.67259788e-05 9.99990817e-01 5.08522410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:63.01, Z:0.51 [[ 6.08041785e-01 -7.93900501e-01 -2.67986889e-03 1.45637067e+02] [ 7.93893463e-01 6.08047684e-01 -3.34434750e-03 6.30068605e+01] [ 4.28456723e-03 -9.40273644e-05 9.99990817e-01 5.08402583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:63.03, Z:0.51 [[ 6.09205213e-01 -7.93008090e-01 -2.67911171e-03 1.45656252e+02] [ 7.93001040e-01 6.09211098e-01 -3.34495396e-03 6.30266177e+01] [ 4.28472014e-03 -8.67749800e-05 9.99990817e-01 5.06964147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:145.67, Y:63.05, Z:0.51 [[ 6.09684799e-01 -7.92639434e-01 -2.67840138e-03 1.45673792e+02] [ 7.92632378e-01 6.09690676e-01 -3.34552264e-03 6.30477277e+01] [ 4.28478952e-03 -8.32733594e-05 9.99990817e-01 5.11927153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.69, Y:63.07, Z:0.51 [[ 6.10423206e-01 -7.92070918e-01 -2.67773344e-03 1.45690876e+02] [ 7.92063854e-01 6.10429074e-01 -3.34605718e-03 6.30660404e+01] [ 4.28488092e-03 -7.84249164e-05 9.99990817e-01 5.05885572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:63.09, Z:0.51 [[ 6.11449097e-01 -7.91279240e-01 -2.67690771e-03 1.45708462e+02] [ 7.91272166e-01 6.11454952e-01 -3.34671765e-03 6.30856935e+01] [ 4.28499667e-03 -7.18150775e-05 9.99990817e-01 5.06597255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:63.10, Z:0.51 [[ 6.13680802e-01 -7.89549689e-01 -2.67611918e-03 1.45726040e+02] [ 7.89542596e-01 6.13686634e-01 -3.34734805e-03 6.31037593e+01] [ 4.28519619e-03 -5.87068464e-05 9.99990817e-01 5.07644507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:63.12, Z:0.51 [[ 6.14764205e-01 -7.88706419e-01 -2.67529609e-03 1.45742831e+02] [ 7.88699315e-01 6.14770023e-01 -3.34800576e-03 6.31237935e+01] [ 4.28528547e-03 -5.17700928e-05 9.99990817e-01 5.08324220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:63.14, Z:0.51 [[ 6.16206862e-01 -7.87579806e-01 -2.67451331e-03 1.45759936e+02] [ 7.87572688e-01 6.16212664e-01 -3.34863096e-03 6.31440621e+01] [ 4.28538309e-03 -4.29242599e-05 9.99990817e-01 5.09706966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:63.16, Z:0.51 [[ 6.17297105e-01 -7.86725578e-01 -2.67373317e-03 1.45776710e+02] [ 7.86718449e-01 6.17302895e-01 -3.34925375e-03 6.31640431e+01] [ 4.28544682e-03 -3.59905638e-05 9.99990817e-01 5.10406778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.79, Y:63.18, Z:0.51 [[ 6.20144807e-01 -7.84482807e-01 -2.67295691e-03 1.45794775e+02] [ 7.84475655e-01 6.20150567e-01 -3.34987315e-03 6.31846603e+01] [ 4.28555363e-03 -1.94631841e-05 9.99990817e-01 5.11174185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:63.21, Z:0.51 [[ 6.21667335e-01 -7.83276824e-01 -2.67223048e-03 1.45811204e+02] [ 7.83269659e-01 6.21673078e-01 -3.35045253e-03 6.32053184e+01] [ 4.28558557e-03 -1.02101604e-05 9.99990817e-01 5.10473531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:63.23, Z:0.51 [[ 6.22965075e-01 -7.82245088e-01 -2.67146551e-03 1.45827217e+02] [ 7.82237911e-01 6.22970803e-01 -3.35106236e-03 6.32255905e+01] [ 4.28559709e-03 -2.12678079e-06 9.99990817e-01 5.09159338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.84, Y:63.25, Z:0.51 [[ 6.25008465e-01 -7.80613403e-01 -2.67091633e-03 1.45844961e+02] [ 7.80606208e-01 6.25014172e-01 -3.35150002e-03 6.32464615e+01] [ 4.28558639e-03 9.78200952e-06 9.99990817e-01 5.07870635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:63.27, Z:0.51 [[ 6.25719355e-01 -7.80043690e-01 -2.67020449e-03 1.45861728e+02] [ 7.80036488e-01 6.25725052e-01 -3.35206706e-03 6.32667431e+01] [ 4.28557260e-03 1.45963046e-05 9.99990817e-01 5.07832607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.88, Y:63.29, Z:0.51 [[ 6.26443319e-01 -7.79462405e-01 -2.66945593e-03 1.45878222e+02] [ 7.79455195e-01 6.26449007e-01 -3.35266308e-03 6.32872490e+01] [ 4.28555284e-03 1.95321011e-05 9.99990817e-01 5.06898684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:63.31, Z:0.51 [[ 6.26976568e-01 -7.79033543e-01 -2.66871230e-03 1.45895503e+02] [ 7.79026326e-01 6.26982247e-01 -3.35325491e-03 6.33086988e+01] [ 4.28553328e-03 2.34151162e-05 9.99990817e-01 5.07183207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:63.33, Z:0.51 [[ 6.28221159e-01 -7.78030242e-01 -2.66801541e-03 1.45912440e+02] [ 7.78023014e-01 6.28226823e-01 -3.35380929e-03 6.33299948e+01] [ 4.28548390e-03 3.11565701e-05 9.99990817e-01 5.07083133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:63.35, Z:0.51 [[ 6.28713128e-01 -7.77632747e-01 -2.66730063e-03 1.45928349e+02] [ 7.77625513e-01 6.28718785e-01 -3.35437767e-03 6.33510184e+01] [ 4.28545593e-03 3.47802571e-05 9.99990817e-01 5.06518102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:63.37, Z:0.51 [[ 6.29142931e-01 -7.77285058e-01 -2.66674794e-03 1.45944466e+02] [ 7.77277819e-01 6.29148582e-01 -3.35481700e-03 6.33716772e+01] [ 4.28542981e-03 3.78553750e-05 9.99990817e-01 5.06999529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:63.39, Z:0.51 [[ 6.29277196e-01 -7.77176366e-01 -2.66598351e-03 1.45960531e+02] [ 7.77169123e-01 6.29282842e-01 -3.35542436e-03 6.33926983e+01] [ 4.28541419e-03 3.95719639e-05 9.99990817e-01 5.07852982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.98, Y:63.41, Z:0.51 [[ 6.29216845e-01 -7.77225230e-01 -2.66521855e-03 1.45976320e+02] [ 7.77217986e-01 6.29222488e-01 -3.35603186e-03 6.34134855e+01] [ 4.28540808e-03 4.02159831e-05 9.99990817e-01 5.09558491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.99, Y:63.43, Z:0.51 [[ 6.28879991e-01 -7.77497818e-01 -2.66445636e-03 1.45992377e+02] [ 7.77490573e-01 6.28885635e-01 -3.35663688e-03 6.34335664e+01] [ 4.28541618e-03 3.93320696e-05 9.99990817e-01 5.09552313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.01, Y:63.45, Z:0.51 [[ 6.27766083e-01 -7.78397488e-01 -2.66385027e-03 1.46008319e+02] [ 7.78390249e-01 6.27771734e-01 -3.35711781e-03 6.34529236e+01] [ 4.28546197e-03 3.39696228e-05 9.99990817e-01 5.08791067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:63.47, Z:0.51 [[ 6.26981210e-01 -7.79029826e-01 -2.66305755e-03 1.46023570e+02] [ 7.79022590e-01 6.26986865e-01 -3.35774652e-03 6.34725378e+01] [ 4.28548679e-03 3.06619892e-05 9.99990817e-01 5.08585595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.04, Y:63.49, Z:0.51 [[ 6.26267101e-01 -7.79604021e-01 -2.66227623e-03 1.46039620e+02] [ 7.79596788e-01 6.26272759e-01 -3.35836589e-03 6.34933188e+01] [ 4.28550664e-03 2.77320758e-05 9.99990817e-01 5.09632528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:63.51, Z:0.51 [[ 6.25647728e-01 -7.80101171e-01 -2.66153712e-03 1.46055798e+02] [ 7.80093940e-01 6.25653388e-01 -3.35895154e-03 6.35141572e+01] [ 4.28552175e-03 2.52714169e-05 9.99990817e-01 5.09553581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:63.53, Z:0.51 [[ 6.25146812e-01 -7.80502648e-01 -2.66079789e-03 1.46072108e+02] [ 7.80495418e-01 6.25152474e-01 -3.35953702e-03 6.35349362e+01] [ 4.28553193e-03 2.34632986e-05 9.99990817e-01 5.09602822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.09, Y:63.56, Z:0.51 [[ 6.24785038e-01 -7.80792277e-01 -2.66005465e-03 1.46089638e+02] [ 7.80785047e-01 6.24790701e-01 -3.36012541e-03 6.35552617e+01] [ 4.28553738e-03 2.24251906e-05 9.99990817e-01 5.11058622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:63.58, Z:0.51 [[ 6.24734590e-01 -7.80832645e-01 -2.65933877e-03 1.46105794e+02] [ 7.80825414e-01 6.24740250e-01 -3.36069189e-03 6.35761486e+01] [ 4.28553391e-03 2.30611691e-05 9.99990817e-01 5.10116932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.058623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.12, Y:63.60, Z:0.51 [[ 6.24877493e-01 -7.80718291e-01 -2.65858761e-03 1.46121473e+02] [ 7.80711056e-01 6.24883148e-01 -3.36128602e-03 6.35968606e+01] [ 4.28552407e-03 2.48032411e-05 9.99990817e-01 5.10035644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.14, Y:63.62, Z:0.51 [[ 6.25141625e-01 -7.80506813e-01 -2.65786117e-03 1.46136866e+02] [ 7.80499573e-01 6.25147274e-01 -3.36186033e-03 6.36181576e+01] [ 4.28550956e-03 2.71793246e-05 9.99990817e-01 5.08997681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.15, Y:63.64, Z:0.51 [[ 6.25266173e-01 -7.80407043e-01 -2.65713580e-03 1.46152212e+02] [ 7.80399800e-01 6.25271818e-01 -3.36243355e-03 6.36387177e+01] [ 4.28549896e-03 2.87877068e-05 9.99990817e-01 5.08370610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:63.66, Z:0.51 [[ 6.25407842e-01 -7.80293518e-01 -2.65637938e-03 1.46167983e+02] [ 7.80286271e-01 6.25413483e-01 -3.36303103e-03 6.36608259e+01] [ 4.28548679e-03 3.05296213e-05 9.99990817e-01 5.09915096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:63.68, Z:0.51 [[ 6.25785281e-01 -7.79990852e-01 -2.65566778e-03 1.46182535e+02] [ 7.79983600e-01 6.25790915e-01 -3.36359286e-03 6.36823268e+01] [ 4.28546443e-03 3.35095865e-05 9.99990817e-01 5.08761752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:63.70, Z:0.51 [[ 6.25689206e-01 -7.80067925e-01 -2.65496139e-03 1.46198485e+02] [ 7.80060672e-01 6.25694838e-01 -3.36415034e-03 6.37029758e+01] [ 4.28546141e-03 3.38815902e-05 9.99990817e-01 5.09844675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.21, Y:63.72, Z:0.51 [[ 6.25431006e-01 -7.80274959e-01 -2.65418346e-03 1.46214769e+02] [ 7.80267705e-01 6.25436637e-01 -3.36476398e-03 6.37241696e+01] [ 4.28546466e-03 3.34540826e-05 9.99990817e-01 5.10708602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.268623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:146.23, Y:63.75, Z:0.52 [[ 6.25327568e-01 -7.80357861e-01 -2.65348369e-03 1.46229706e+02] [ 7.80350605e-01 6.25333197e-01 -3.36531574e-03 6.37465777e+01] [ 4.28546203e-03 3.37771085e-05 9.99990817e-01 5.17195438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.298623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.24, Y:63.77, Z:0.52 [[ 6.25202762e-01 -7.80457859e-01 -2.65274189e-03 1.46244981e+02] [ 7.80450602e-01 6.25208388e-01 -3.36590037e-03 6.37683072e+01] [ 4.28545988e-03 3.40361999e-05 9.99990817e-01 5.19417724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:63.79, Z:0.51 [[ 6.24976406e-01 -7.80639135e-01 -2.65196063e-03 1.46260780e+02] [ 7.80631877e-01 6.24982032e-01 -3.36651580e-03 6.37887388e+01] [ 4.28546173e-03 3.37879446e-05 9.99990817e-01 5.12983994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:63.81, Z:0.51 [[ 6.24593319e-01 -7.80945682e-01 -2.65115935e-03 1.46277218e+02] [ 7.80938423e-01 6.24598945e-01 -3.36714670e-03 6.38109876e+01] [ 4.28547001e-03 3.27051322e-05 9.99990817e-01 5.14158602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:63.83, Z:0.51 [[ 6.24341309e-01 -7.81147172e-01 -2.65042060e-03 1.46291884e+02] [ 7.81139913e-01 6.24346934e-01 -3.36772810e-03 6.38321868e+01] [ 4.28547326e-03 3.22624492e-05 9.99990817e-01 5.12486195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:63.85, Z:0.51 [[ 6.24028565e-01 -7.81397037e-01 -2.64964672e-03 1.46308231e+02] [ 7.81389778e-01 6.24034189e-01 -3.36833686e-03 6.38538673e+01] [ 4.28547858e-03 3.15315592e-05 9.99990817e-01 5.12045342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:63.88, Z:0.51 [[ 6.23619391e-01 -7.81723633e-01 -2.64891629e-03 1.46324833e+02] [ 7.81716374e-01 6.23625017e-01 -3.36891119e-03 6.38758379e+01] [ 4.28548795e-03 3.02171109e-05 9.99990817e-01 5.12248737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:63.90, Z:0.51 [[ 6.23172184e-01 -7.82080186e-01 -2.64817881e-03 1.46340693e+02] [ 7.82072928e-01 6.23177810e-01 -3.36949079e-03 6.38968412e+01] [ 4.28549825e-03 2.87039812e-05 9.99990817e-01 5.12276216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:63.92, Z:0.51 [[ 6.22891350e-01 -7.82303878e-01 -2.64740523e-03 1.46355352e+02] [ 7.82296620e-01 6.22896975e-01 -3.37009848e-03 6.39182946e+01] [ 4.28550182e-03 2.81490272e-05 9.99990817e-01 5.12246074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.37, Y:63.94, Z:0.51 [[ 6.22912603e-01 -7.82286958e-01 -2.64664194e-03 1.46371486e+02] [ 7.82279696e-01 6.22918225e-01 -3.37069781e-03 6.39407610e+01] [ 4.28549443e-03 2.92358917e-05 9.99990817e-01 5.12847519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.39, Y:63.96, Z:0.51 [[ 6.22926567e-01 -7.82275841e-01 -2.64592473e-03 1.46386730e+02] [ 7.82268577e-01 6.22932186e-01 -3.37126071e-03 6.39626197e+01] [ 4.28548748e-03 3.02240853e-05 9.99990817e-01 5.12814826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:63.98, Z:0.51 [[ 6.23169690e-01 -7.82082182e-01 -2.64537076e-03 1.46402321e+02] [ 7.82074915e-01 6.23175304e-01 -3.37169534e-03 6.39845194e+01] [ 4.28547258e-03 3.22602307e-05 9.99990817e-01 5.12526189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:64.01, Z:0.51 [[ 6.23894175e-01 -7.81504359e-01 -2.64466305e-03 1.46416801e+02] [ 7.81497084e-01 6.23899780e-01 -3.37225036e-03 6.40066365e+01] [ 4.28543305e-03 3.71308943e-05 9.99990817e-01 5.13054881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.43, Y:64.03, Z:0.51 [[ 6.24054699e-01 -7.81376184e-01 -2.64411482e-03 1.46432188e+02] [ 7.81368906e-01 6.24060299e-01 -3.37268016e-03 6.40288171e+01] [ 4.28541904e-03 3.87078011e-05 9.99990817e-01 5.14206899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.45, Y:64.05, Z:0.51 [[ 6.23887152e-01 -7.81509970e-01 -2.64339353e-03 1.46449073e+02] [ 7.81502691e-01 6.23892751e-01 -3.37324539e-03 6.40507376e+01] [ 4.28541897e-03 3.87052986e-05 9.99990817e-01 5.14325388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.46, Y:64.07, Z:0.51 [[ 6.24236214e-01 -7.81231185e-01 -2.64267016e-03 1.46463918e+02] [ 7.81223902e-01 6.24241807e-01 -3.37381200e-03 6.40719904e+01] [ 4.28539234e-03 4.15385373e-05 9.99990817e-01 5.14858776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.48, Y:64.10, Z:0.51 [[ 6.24972026e-01 -7.80642676e-01 -2.64191060e-03 1.46478185e+02] [ 7.80635384e-01 6.24977608e-01 -3.37440668e-03 6.40956655e+01] [ 4.28534083e-03 4.65408812e-05 9.99990817e-01 5.14599548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.49, Y:64.12, Z:0.51 [[ 6.25062590e-01 -7.80570165e-01 -2.64119736e-03 1.46493324e+02] [ 7.80562871e-01 6.25068168e-01 -3.37496485e-03 6.41181873e+01] [ 4.28532527e-03 4.79436699e-05 9.99990817e-01 5.14036020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.51, Y:64.14, Z:0.51 [[ 6.24924184e-01 -7.80680980e-01 -2.64048440e-03 1.46508437e+02] [ 7.80673684e-01 6.24929761e-01 -3.37552256e-03 6.41402294e+01] [ 4.28532354e-03 4.80890007e-05 9.99990817e-01 5.13378855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:64.16, Z:0.51 [[ 6.24581184e-01 -7.80955425e-01 -2.63977208e-03 1.46523856e+02] [ 7.80948129e-01 6.24586761e-01 -3.37607953e-03 6.41625187e+01] [ 4.28533431e-03 4.71106817e-05 9.99990817e-01 5.13033225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:64.19, Z:0.51 [[ 6.23812276e-01 -7.81569754e-01 -2.63906003e-03 1.46538397e+02] [ 7.81562461e-01 6.23817857e-01 -3.37663604e-03 6.41852537e+01] [ 4.28536937e-03 4.37967647e-05 9.99990817e-01 5.13010154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:64.21, Z:0.51 [[ 6.23038380e-01 -7.82186817e-01 -2.63834977e-03 1.46553335e+02] [ 7.82179527e-01 6.23043965e-01 -3.37719092e-03 6.42072400e+01] [ 4.28540211e-03 4.04563838e-05 9.99990817e-01 5.12829745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:64.23, Z:0.51 [[ 6.22446971e-01 -7.82657531e-01 -2.63779779e-03 1.46569025e+02] [ 7.82650243e-01 6.22452559e-01 -3.37762199e-03 6.42289621e+01] [ 4.28542527e-03 3.79174916e-05 9.99990817e-01 5.13215105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:64.25, Z:0.51 [[ 6.21704498e-01 -7.83247447e-01 -2.63707136e-03 1.46584348e+02] [ 7.83240162e-01 6.21710090e-01 -3.37818905e-03 6.42513399e+01] [ 4.28545182e-03 3.47751222e-05 9.99990817e-01 5.13700251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:64.27, Z:0.51 [[ 6.20755285e-01 -7.83999953e-01 -2.63633006e-03 1.46598223e+02] [ 7.83992673e-01 6.20760882e-01 -3.37876746e-03 6.42736024e+01] [ 4.28548410e-03 3.05243033e-05 9.99990817e-01 5.13183572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.61, Y:64.30, Z:0.51 [[ 6.19870294e-01 -7.84699861e-01 -2.63575687e-03 1.46613880e+02] [ 7.84692585e-01 6.19875897e-01 -3.37921454e-03 6.42961809e+01] [ 4.28551134e-03 2.64158405e-05 9.99990817e-01 5.13400518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.63, Y:64.32, Z:0.52 [[ 6.19035900e-01 -7.85358269e-01 -2.63501782e-03 1.46628764e+02] [ 7.85350997e-01 6.19041508e-01 -3.37979073e-03 6.43182345e+01] [ 4.28553201e-03 2.27979224e-05 9.99990817e-01 5.18178732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:64.34, Z:0.51 [[ 6.17525430e-01 -7.86546505e-01 -2.63424245e-03 1.46643959e+02] [ 7.86539241e-01 6.17531049e-01 -3.38039496e-03 6.43402371e+01] [ 4.28556434e-03 1.55447895e-05 9.99990817e-01 5.14412633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:64.36, Z:0.52 [[ 6.16873573e-01 -7.87057850e-01 -2.63350274e-03 1.46659147e+02] [ 7.87050588e-01 6.16879194e-01 -3.38097114e-03 6.43614836e+01] [ 4.28557292e-03 1.29318688e-05 9.99990817e-01 5.15326164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:64.38, Z:0.52 [[ 6.16113159e-01 -7.87653251e-01 -2.63272595e-03 1.46674773e+02] [ 7.87645992e-01 6.16118784e-01 -3.38157590e-03 6.43832805e+01] [ 4.28558116e-03 9.77736721e-06 9.99990817e-01 5.15469888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.69, Y:64.41, Z:0.51 [[ 6.14829110e-01 -7.88655969e-01 -2.63199974e-03 1.46689465e+02] [ 7.88648717e-01 6.14834744e-01 -3.38214104e-03 6.44053643e+01] [ 4.28559061e-03 3.71554855e-06 9.99990817e-01 5.14172958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:64.43, Z:0.51 [[ 6.14138758e-01 -7.89193679e-01 -2.63123526e-03 1.46705312e+02] [ 7.89186429e-01 6.14144395e-01 -3.38273569e-03 6.44274648e+01] [ 4.28559201e-03 9.33938991e-07 9.99990817e-01 5.13020251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.72, Y:64.45, Z:0.51 [[ 6.13606353e-01 -7.89607703e-01 -2.63051549e-03 1.46721090e+02] [ 7.89600454e-01 6.13611992e-01 -3.38329531e-03 6.44494400e+01] [ 4.28559189e-03 -1.04472560e-06 9.99990817e-01 5.12507005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.74, Y:64.47, Z:0.51 [[ 6.13095373e-01 -7.90004524e-01 -2.62979115e-03 1.46736532e+02] [ 7.89997277e-01 6.13101013e-01 -3.38385824e-03 6.44703079e+01] [ 4.28559093e-03 -2.90001532e-06 9.99990817e-01 5.12400389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28862385300002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:146.75, Y:64.49, Z:0.52 [[ 6.12551527e-01 -7.90426287e-01 -2.62903057e-03 1.46751173e+02] [ 7.90419041e-01 6.12557168e-01 -3.38444906e-03 6.44928304e+01] [ 4.28558902e-03 -4.88638307e-06 9.99990817e-01 5.21043092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:64.51, Z:0.51 [[ 6.12236442e-01 -7.90670368e-01 -2.62832144e-03 1.46767197e+02] [ 7.90663122e-01 6.12242084e-01 -3.38499966e-03 6.45139585e+01] [ 4.28558793e-03 -5.69668854e-06 9.99990817e-01 5.13469907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.78, Y:64.54, Z:0.51 [[ 6.11947109e-01 -7.90894324e-01 -2.62753242e-03 1.46783014e+02] [ 7.90887078e-01 6.11952750e-01 -3.38561201e-03 6.45365314e+01] [ 4.28558702e-03 -6.26595741e-06 9.99990817e-01 5.13798605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.80, Y:64.56, Z:0.51 [[ 6.11758966e-01 -7.91039865e-01 -2.62680930e-03 1.46798578e+02] [ 7.91032617e-01 6.11764606e-01 -3.38617297e-03 6.45586683e+01] [ 4.28558676e-03 -6.37015953e-06 9.99990817e-01 5.14367815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:64.58, Z:0.51 [[ 6.11567959e-01 -7.91187548e-01 -2.62608775e-03 1.46814246e+02] [ 7.91180299e-01 6.11573597e-01 -3.38673246e-03 6.45809852e+01] [ 4.28558648e-03 -6.49183391e-06 9.99990817e-01 5.14305412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:64.60, Z:0.51 [[ 6.11316075e-01 -7.91382186e-01 -2.62536985e-03 1.46830363e+02] [ 7.91374937e-01 6.11321712e-01 -3.38728888e-03 6.46028278e+01] [ 4.28558567e-03 -6.94775685e-06 9.99990817e-01 5.14091668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:64.62, Z:0.51 [[ 6.10909366e-01 -7.91696191e-01 -2.62465530e-03 1.46845909e+02] [ 7.91688942e-01 6.10915004e-01 -3.38784246e-03 6.46241107e+01] [ 4.28558328e-03 -8.24588980e-06 9.99990817e-01 5.13279124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:146.86, Y:64.65, Z:0.52 [[ 6.10729623e-01 -7.91834858e-01 -2.62390253e-03 1.46860827e+02] [ 7.91827608e-01 6.10735260e-01 -3.38842539e-03 6.46460238e+01] [ 4.28558313e-03 -8.26670733e-06 9.99990817e-01 5.21618487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:64.67, Z:0.51 [[ 6.10600980e-01 -7.91934065e-01 -2.62312175e-03 1.46876502e+02] [ 7.91926813e-01 6.10606614e-01 -3.38902971e-03 6.46657361e+01] [ 4.28558357e-03 -7.97558670e-06 9.99990817e-01 5.13047864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:64.69, Z:0.51 [[ 6.10658435e-01 -7.91889765e-01 -2.62230608e-03 1.46891891e+02] [ 7.91882510e-01 6.10664065e-01 -3.38966073e-03 6.46875196e+01] [ 4.28558573e-03 -6.63340663e-06 9.99990817e-01 5.12248849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:64.71, Z:0.51 [[ 6.10856324e-01 -7.91737127e-01 -2.62152171e-03 1.46905927e+02] [ 7.91729869e-01 6.10861949e-01 -3.39026725e-03 6.47084939e+01] [ 4.28558831e-03 -4.57085202e-06 9.99990817e-01 5.11386003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:64.73, Z:0.51 [[ 6.11696057e-01 -7.91088532e-01 -2.62070272e-03 1.46919628e+02] [ 7.91081265e-01 6.11701671e-01 -3.39090021e-03 6.47302618e+01] [ 4.28559051e-03 1.01146285e-06 9.99990817e-01 5.10783087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:64.75, Z:0.51 [[ 6.11857587e-01 -7.90963609e-01 -2.61989173e-03 1.46934900e+02] [ 7.90956337e-01 6.11863196e-01 -3.39152669e-03 6.47517502e+01] [ 4.28558952e-03 2.91137306e-06 9.99990817e-01 5.10746378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:64.77, Z:0.51 [[ 6.12108188e-01 -7.90769693e-01 -2.61912546e-03 1.46950697e+02] [ 7.90762417e-01 6.12113791e-01 -3.39211834e-03 6.47732436e+01] [ 4.28558719e-03 5.23742666e-06 9.99990817e-01 5.11010722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:64.80, Z:0.51 [[ 6.11985600e-01 -7.90864571e-01 -2.61835841e-03 1.46965873e+02] [ 7.90857294e-01 6.11991201e-01 -3.39271032e-03 6.47954871e+01] [ 4.28558670e-03 5.54201814e-06 9.99990817e-01 5.12368059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:64.82, Z:0.51 [[ 6.11746419e-01 -7.91049598e-01 -2.61764553e-03 1.46981732e+02] [ 7.91042320e-01 6.11752020e-01 -3.39326026e-03 6.48172183e+01] [ 4.28558710e-03 5.14642037e-06 9.99990817e-01 5.12652995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:64.84, Z:0.51 [[ 6.11355242e-01 -7.91351957e-01 -2.61693126e-03 1.46997830e+02] [ 7.91344679e-01 6.11360843e-01 -3.39381102e-03 6.48390320e+01] [ 4.28558829e-03 3.92953117e-06 9.99990817e-01 5.13333166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:64.86, Z:0.51 [[ 6.10732013e-01 -7.91833041e-01 -2.61621419e-03 1.47014087e+02] [ 7.91825765e-01 6.10737616e-01 -3.39436371e-03 6.48607614e+01] [ 4.28558975e-03 1.46077982e-06 9.99990817e-01 5.14119881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:64.88, Z:0.51 [[ 6.09287862e-01 -7.92944803e-01 -2.61548867e-03 1.47030076e+02] [ 7.92937536e-01 6.09293475e-01 -3.39492266e-03 6.48816792e+01] [ 4.28558646e-03 -5.43397035e-06 9.99990817e-01 5.13858491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:64.90, Z:0.51 [[ 6.08515083e-01 -7.93538000e-01 -2.61472697e-03 1.47045296e+02] [ 7.93530735e-01 6.08520701e-01 -3.39550920e-03 6.49014360e+01] [ 4.28558107e-03 -8.64765467e-06 9.99990817e-01 5.13002234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:64.92, Z:0.51 [[ 6.07566957e-01 -7.94264162e-01 -2.61409423e-03 1.47061604e+02] [ 7.94256902e-01 6.07572581e-01 -3.39599626e-03 6.49225560e+01] [ 4.28557010e-03 -1.29672689e-05 9.99990817e-01 5.12967264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:64.94, Z:0.51 [[ 6.06175406e-01 -7.95326693e-01 -2.61337926e-03 1.47079238e+02] [ 7.95319440e-01 6.06181039e-01 -3.39654638e-03 6.49436826e+01] [ 4.28554495e-03 -1.95684524e-05 9.99990817e-01 5.14025910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:64.96, Z:0.51 [[ 6.05571120e-01 -7.95786902e-01 -2.61263324e-03 1.47095462e+02] [ 7.95779651e-01 6.05576755e-01 -3.39712012e-03 6.49639586e+01] [ 4.28553365e-03 -2.18825277e-05 9.99990817e-01 5.13718721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.11, Y:64.99, Z:0.52 [[ 6.04996568e-01 -7.96223794e-01 -2.61205640e-03 1.47111368e+02] [ 7.96216545e-01 6.05002206e-01 -3.39756360e-03 6.49857375e+01] [ 4.28552086e-03 -2.42482038e-05 9.99990817e-01 5.19437785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:65.01, Z:0.51 [[ 6.04351896e-01 -7.96713228e-01 -2.61133750e-03 1.47128627e+02] [ 7.96705981e-01 6.04357537e-01 -3.39811605e-03 6.50070322e+01] [ 4.28550550e-03 -2.68103258e-05 9.99990817e-01 5.14667486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:65.03, Z:0.51 [[ 6.03904812e-01 -7.97052171e-01 -2.61059182e-03 1.47144827e+02] [ 7.97044925e-01 6.03910453e-01 -3.39868881e-03 6.50277185e+01] [ 4.28549599e-03 -2.82744378e-05 9.99990817e-01 5.14351207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:65.05, Z:0.51 [[ 6.03283951e-01 -7.97522202e-01 -2.60980720e-03 1.47161511e+02] [ 7.97514959e-01 6.03289595e-01 -3.39929121e-03 6.50487265e+01] [ 4.28547974e-03 -3.06224503e-05 9.99990817e-01 5.13922499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:65.07, Z:0.51 [[ 6.02842931e-01 -7.97855622e-01 -2.60901947e-03 1.47178223e+02] [ 7.97848379e-01 6.02848576e-01 -3.39989570e-03 6.50697841e+01] [ 4.28546957e-03 -3.19988650e-05 9.99990817e-01 5.13120072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:65.09, Z:0.51 [[ 6.02227347e-01 -7.98320374e-01 -2.60827947e-03 1.47194821e+02] [ 7.98313133e-01 6.02232994e-01 -3.40046330e-03 6.50898617e+01] [ 4.28545109e-03 -3.43717635e-05 9.99990817e-01 5.12119901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:65.11, Z:0.51 [[ 6.01641413e-01 -7.98762049e-01 -2.60750094e-03 1.47212229e+02] [ 7.98754809e-01 6.01647063e-01 -3.40106018e-03 6.51106447e+01] [ 4.28543308e-03 -3.65352657e-05 9.99990817e-01 5.11758045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:65.13, Z:0.51 [[ 6.00393993e-01 -7.99700105e-01 -2.60677015e-03 1.47229918e+02] [ 7.99692872e-01 6.00399650e-01 -3.40162021e-03 6.51303726e+01] [ 4.28537993e-03 -4.23031626e-05 9.99990817e-01 5.11206138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.25, Y:65.15, Z:0.51 [[ 5.99681458e-01 -8.00234564e-01 -2.60600001e-03 1.47246803e+02] [ 8.00227333e-01 5.99687119e-01 -3.40221012e-03 6.51514914e+01] [ 4.28535077e-03 -4.51501091e-05 9.99990817e-01 5.11626397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:65.17, Z:0.51 [[ 5.99026412e-01 -8.00725028e-01 -2.60527648e-03 1.47263966e+02] [ 8.00717799e-01 5.99032075e-01 -3.40276408e-03 6.51719689e+01] [ 4.28532254e-03 -4.77456932e-05 9.99990817e-01 5.12141956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.28, Y:65.19, Z:0.51 [[ 5.98405779e-01 -8.01188954e-01 -2.60452658e-03 1.47280553e+02] [ 8.01181727e-01 5.98411445e-01 -3.40333796e-03 6.51925409e+01] [ 4.28529530e-03 -5.01219970e-05 9.99990817e-01 5.12638799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:65.21, Z:0.51 [[ 5.98320462e-01 -8.01252673e-01 -2.60373927e-03 1.47297383e+02] [ 8.01245444e-01 5.98326125e-01 -3.40394019e-03 6.52125838e+01] [ 4.28530141e-03 -4.95871641e-05 9.99990817e-01 5.14103202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:65.23, Z:0.51 [[ 5.98353638e-01 -8.01227901e-01 -2.60298117e-03 1.47314388e+02] [ 8.01220669e-01 5.98359298e-01 -3.40451981e-03 6.52336677e+01] [ 4.28531424e-03 -4.84555027e-05 9.99990817e-01 5.14978488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.33, Y:65.25, Z:0.51 [[ 5.98448415e-01 -8.01157115e-01 -2.60224883e-03 1.47331468e+02] [ 8.01149880e-01 5.98454071e-01 -3.40507948e-03 6.52535912e+01] [ 4.28533006e-03 -4.70269208e-05 9.99990817e-01 5.14950490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:65.27, Z:0.52 [[ 5.98780520e-01 -8.00908934e-01 -2.60147720e-03 1.47349580e+02] [ 8.00901695e-01 5.98786169e-01 -3.40566890e-03 6.52738897e+01] [ 4.28535922e-03 -4.42793058e-05 9.99990817e-01 5.15167040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:65.29, Z:0.52 [[ 5.99245109e-01 -8.00561388e-01 -2.60075347e-03 1.47366213e+02] [ 8.00554142e-01 5.99250751e-01 -3.40622150e-03 6.52949524e+01] [ 4.28539288e-03 -4.08823901e-05 9.99990817e-01 5.15429296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:65.32, Z:0.52 [[ 5.99822270e-01 -8.00129042e-01 -2.60002448e-03 1.47382375e+02] [ 8.00121790e-01 5.99827904e-01 -3.40677785e-03 6.53154005e+01] [ 4.28542914e-03 -3.68750169e-05 9.99990817e-01 5.15122572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:65.34, Z:0.52 [[ 6.00393079e-01 -7.99700816e-01 -2.59925792e-03 1.47399187e+02] [ 7.99693557e-01 6.00398704e-01 -3.40736262e-03 6.53356505e+01] [ 4.28546175e-03 -3.28528793e-05 9.99990817e-01 5.15501214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:65.35, Z:0.51 [[ 6.01608921e-01 -7.98786551e-01 -2.59845568e-03 1.47416637e+02] [ 7.98779281e-01 6.01614532e-01 -3.40797429e-03 6.53549814e+01] [ 4.28551273e-03 -2.53248249e-05 9.99990817e-01 5.14863327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:65.37, Z:0.51 [[ 6.02259148e-01 -7.98296418e-01 -2.59765459e-03 1.47432038e+02] [ 7.98289141e-01 6.02264750e-01 -3.40858479e-03 6.53747791e+01] [ 4.28553682e-03 -2.08280806e-05 9.99990817e-01 5.14590667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:65.40, Z:0.52 [[ 6.03065902e-01 -7.97687140e-01 -2.59681586e-03 1.47447998e+02] [ 7.97679855e-01 6.03071493e-01 -3.40922366e-03 6.53953239e+01] [ 4.28555949e-03 -1.54411566e-05 9.99990817e-01 5.15559952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:65.42, Z:0.52 [[ 6.02878246e-01 -7.97828980e-01 -2.59601376e-03 1.47464024e+02] [ 7.97821694e-01 6.02883835e-01 -3.40983433e-03 6.54168462e+01] [ 4.28555937e-03 -1.54411561e-05 9.99990817e-01 5.15674863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.48, Y:65.44, Z:0.52 [[ 6.03735790e-01 -7.97180256e-01 -2.59521151e-03 1.47479447e+02] [ 7.97172961e-01 6.03741368e-01 -3.41044480e-03 6.54366948e+01] [ 4.28557581e-03 -9.82485909e-06 9.99990817e-01 5.15597519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:65.46, Z:0.52 [[ 6.05772469e-01 -7.95633701e-01 -2.59437350e-03 1.47496436e+02] [ 7.95626388e-01 6.05778024e-01 -3.41108217e-03 6.54565798e+01] [ 4.28558638e-03 2.18764664e-06 9.99990817e-01 5.15449443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.51, Y:65.48, Z:0.51 [[ 6.06567214e-01 -7.95027980e-01 -2.59358249e-03 1.47511665e+02] [ 7.95020659e-01 6.06572759e-01 -3.41168350e-03 6.54762356e+01] [ 4.28558033e-03 7.46370013e-06 9.99990817e-01 5.14776348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:65.50, Z:0.51 [[ 6.07326762e-01 -7.94447910e-01 -2.59275354e-03 1.47527439e+02] [ 7.94440582e-01 6.07332296e-01 -3.41231336e-03 6.54968917e+01] [ 4.28556818e-03 1.26005931e-05 9.99990817e-01 5.14452610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.54, Y:65.52, Z:0.51 [[ 6.08480340e-01 -7.93564715e-01 -2.59196393e-03 1.47543215e+02] [ 7.93557376e-01 6.08485860e-01 -3.41291304e-03 6.55161495e+01] [ 4.28554076e-03 1.98183925e-05 9.99990817e-01 5.12439302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:65.54, Z:0.51 [[ 6.08638637e-01 -7.93443315e-01 -2.59133687e-03 1.47559314e+02] [ 7.93435973e-01 6.08644154e-01 -3.41338908e-03 6.55372863e+01] [ 4.28553278e-03 2.14605915e-05 9.99990817e-01 5.12273217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.57, Y:65.56, Z:0.51 [[ 6.08783830e-01 -7.93331922e-01 -2.59057305e-03 1.47574744e+02] [ 7.93324576e-01 6.08789341e-01 -3.41396867e-03 6.55571834e+01] [ 4.28552359e-03 2.32036511e-05 9.99990817e-01 5.12107226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:65.58, Z:0.51 [[ 6.08892389e-01 -7.93248606e-01 -2.58977485e-03 1.47591275e+02] [ 7.93241258e-01 6.08897896e-01 -3.41457407e-03 6.55779355e+01] [ 4.28551458e-03 2.47919008e-05 9.99990817e-01 5.12553335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:65.60, Z:0.51 [[ 6.09200880e-01 -7.93011718e-01 -2.58901647e-03 1.47608796e+02] [ 7.93004364e-01 6.09206381e-01 -3.41514899e-03 6.55989387e+01] [ 4.28549852e-03 2.74104067e-05 9.99990817e-01 5.14447033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:65.62, Z:0.51 [[ 6.09484253e-01 -7.92793949e-01 -2.58827453e-03 1.47624905e+02] [ 7.92786592e-01 6.09489748e-01 -3.41571120e-03 6.56199626e+01] [ 4.28548197e-03 2.98728481e-05 9.99990817e-01 5.13858445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:65.64, Z:0.51 [[ 6.09831016e-01 -7.92527247e-01 -2.58749452e-03 1.47640127e+02] [ 7.92519884e-01 6.09836504e-01 -3.41630198e-03 6.56410468e+01] [ 4.28546102e-03 3.27260465e-05 9.99990817e-01 5.14138514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:65.66, Z:0.52 [[ 6.10926564e-01 -7.91683044e-01 -2.58673960e-03 1.47655901e+02] [ 7.91675671e-01 6.10932039e-01 -3.41687349e-03 6.56634832e+01] [ 4.28540290e-03 3.95999664e-05 9.99990817e-01 5.16233837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.67, Y:65.68, Z:0.52 [[ 6.11461766e-01 -7.91269753e-01 -2.58598758e-03 1.47671213e+02] [ 7.91262374e-01 6.11467233e-01 -3.41744255e-03 6.56841053e+01] [ 4.28536559e-03 4.34407843e-05 9.99990817e-01 5.16481661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:65.71, Z:0.52 [[ 6.12067532e-01 -7.90801273e-01 -2.58519819e-03 1.47687353e+02] [ 7.90793887e-01 6.12072990e-01 -3.41803959e-03 6.57059297e+01] [ 4.28532005e-03 4.77121299e-05 9.99990817e-01 5.17680798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:65.73, Z:0.52 [[ 6.12773834e-01 -7.90254104e-01 -2.58447157e-03 1.47702750e+02] [ 7.90246712e-01 6.12779282e-01 -3.41858892e-03 6.57271323e+01] [ 4.28526456e-03 5.24516808e-05 9.99990817e-01 5.17998871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.72, Y:65.75, Z:0.52 [[ 6.14341401e-01 -7.89036100e-01 -2.58370884e-03 1.47716356e+02] [ 7.89028694e-01 6.14346831e-01 -3.41916528e-03 6.57486592e+01] [ 4.28513818e-03 6.19143780e-05 9.99990817e-01 5.18001130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:65.77, Z:0.52 [[ 6.14936330e-01 -7.88572533e-01 -2.58290340e-03 1.47730887e+02] [ 7.88565120e-01 6.14941750e-01 -3.41977362e-03 6.57703044e+01] [ 4.28507468e-03 6.61555048e-05 9.99990817e-01 5.18644964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:65.79, Z:0.52 [[ 6.15497076e-01 -7.88134939e-01 -2.58212188e-03 1.47745938e+02] [ 7.88127521e-01 6.15502488e-01 -3.42036361e-03 6.57933106e+01] [ 4.28501051e-03 7.01824842e-05 9.99990817e-01 5.18704791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.76, Y:65.82, Z:0.52 [[ 6.16037901e-01 -7.87712283e-01 -2.58141193e-03 1.47760622e+02] [ 7.87704858e-01 6.16043305e-01 -3.42089934e-03 6.58160496e+01] [ 4.28494596e-03 7.40129286e-05 9.99990817e-01 5.19228428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.77, Y:65.84, Z:0.52 [[ 6.16639743e-01 -7.87241238e-01 -2.58068705e-03 1.47774555e+02] [ 7.87233807e-01 6.16645138e-01 -3.42144609e-03 6.58392584e+01] [ 4.28487158e-03 7.81955468e-05 9.99990817e-01 5.20072875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:65.86, Z:0.52 [[ 6.16651646e-01 -7.87231917e-01 -2.57995970e-03 1.47789714e+02] [ 7.87224484e-01 6.16657038e-01 -3.42199446e-03 6.58618400e+01] [ 4.28485357e-03 7.91710721e-05 9.99990817e-01 5.20590075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:65.88, Z:0.52 [[ 6.16626830e-01 -7.87251358e-01 -2.57923053e-03 1.47804564e+02] [ 7.87243922e-01 6.16632219e-01 -3.42254397e-03 6.58841043e+01] [ 4.28483903e-03 7.99488821e-05 9.99990817e-01 5.20417693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.298623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.82, Y:65.91, Z:0.52 [[ 6.16413257e-01 -7.87418598e-01 -2.57850308e-03 1.47818120e+02] [ 7.87411161e-01 6.16418645e-01 -3.42309194e-03 6.59077306e+01] [ 4.28484362e-03 7.96971494e-05 9.99990817e-01 5.19466494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.328623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.83, Y:65.93, Z:0.52 [[ 6.16017829e-01 -7.87727992e-01 -2.57776323e-03 1.47831809e+02] [ 7.87720556e-01 6.16023218e-01 -3.42364899e-03 6.59299803e+01] [ 4.28486614e-03 7.84717313e-05 9.99990817e-01 5.19506177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.358623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:147.85, Y:65.95, Z:0.52 [[ 6.15735593e-01 -7.87948627e-01 -2.57698513e-03 1.47845387e+02] [ 7.87941191e-01 6.15740980e-01 -3.42423457e-03 6.59526791e+01] [ 4.28487627e-03 7.79103706e-05 9.99990817e-01 5.19815408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.388623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:147.86, Y:65.98, Z:0.53 [[ 6.15094658e-01 -7.88449063e-01 -2.57622223e-03 1.47855565e+02] [ 7.88441629e-01 6.15100048e-01 -3.42480844e-03 6.59792138e+01] [ 4.28492142e-03 7.53805226e-05 9.99990817e-01 5.26723570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:66.00, Z:0.52 [[ 6.14672941e-01 -7.88777879e-01 -2.57550440e-03 1.47870792e+02] [ 7.88770445e-01 6.14678332e-01 -3.42534817e-03 6.60016511e+01] [ 4.28494561e-03 7.39870749e-05 9.99990817e-01 5.18076066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:66.02, Z:0.52 [[ 6.13919418e-01 -7.89364503e-01 -2.57478875e-03 1.47885202e+02] [ 7.89357072e-01 6.13924814e-01 -3.42588603e-03 6.60247079e+01] [ 4.28499952e-03 7.07902495e-05 9.99990817e-01 5.17490649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:66.05, Z:0.52 [[ 6.13042723e-01 -7.90045564e-01 -2.57404227e-03 1.47899672e+02] [ 7.90038137e-01 6.13048123e-01 -3.42644680e-03 6.60475790e+01] [ 4.28506088e-03 6.69667151e-05 9.99990817e-01 5.17149748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:66.07, Z:0.52 [[ 6.10471026e-01 -7.92034409e-01 -2.57329829e-03 1.47911441e+02] [ 7.92026997e-01 6.10476447e-01 -3.42700545e-03 6.60725418e+01] [ 4.28524423e-03 5.39658142e-05 9.99990817e-01 5.15864697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.92, Y:66.09, Z:0.51 [[ 6.08816330e-01 -7.93307039e-01 -2.57254390e-03 1.47924959e+02] [ 7.93299636e-01 6.08821763e-01 -3.42757165e-03 6.60946658e+01] [ 4.28533743e-03 4.59634563e-05 9.99990817e-01 5.14209909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:66.12, Z:0.51 [[ 6.06709785e-01 -7.94919256e-01 -2.57175070e-03 1.47939040e+02] [ 7.94911864e-01 6.06715234e-01 -3.42816670e-03 6.61172429e+01] [ 4.28543605e-03 3.55871353e-05 9.99990817e-01 5.13161268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:66.14, Z:0.51 [[ 6.04406996e-01 -7.96671559e-01 -2.57098815e-03 1.47953811e+02] [ 7.96664181e-01 6.04412464e-01 -3.42873848e-03 6.61402322e+01] [ 4.28551572e-03 2.41393557e-05 9.99990817e-01 5.13872532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.97, Y:66.16, Z:0.51 [[ 5.99486299e-01 -8.00380892e-01 -2.57023126e-03 1.47966130e+02] [ 8.00373545e-01 5.99491808e-01 -3.42930577e-03 6.61632254e+01] [ 4.28558339e-03 -1.32328043e-06 9.99990817e-01 5.12796450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:66.19, Z:0.51 [[ 5.96850577e-01 -8.02348295e-01 -2.56943529e-03 1.47981387e+02] [ 8.02340964e-01 5.96856108e-01 -3.42990205e-03 6.61858503e+01] [ 4.28555921e-03 -1.44241645e-05 9.99990817e-01 5.12382254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.00, Y:66.21, Z:0.51 [[ 5.94008218e-01 -8.04454871e-01 -2.56870627e-03 1.47996800e+02] [ 8.04447557e-01 5.94013771e-01 -3.43044794e-03 6.62082551e+01] [ 4.28548745e-03 -2.86752216e-05 9.99990817e-01 5.12755639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.01, Y:66.23, Z:0.51 [[ 5.88597577e-01 -8.08422103e-01 -2.56797635e-03 1.48011323e+02] [ 8.08414825e-01 5.88603177e-01 -3.43099425e-03 6.62300480e+01] [ 4.28521063e-03 -5.65152480e-05 9.99990817e-01 5.13112616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.03, Y:66.25, Z:0.51 [[ 5.85837067e-01 -8.10424790e-01 -2.56721058e-03 1.48026971e+02] [ 8.10417528e-01 5.85842688e-01 -3.43156714e-03 6.62518241e+01] [ 4.28500863e-03 -7.01732202e-05 9.99990817e-01 5.14861981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.04, Y:66.27, Z:0.52 [[ 5.83230982e-01 -8.12302305e-01 -2.56646217e-03 1.48042110e+02] [ 8.12295059e-01 5.83236623e-01 -3.43212678e-03 6.62729025e+01] [ 4.28477923e-03 -8.30018662e-05 9.99990817e-01 5.15133995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.06, Y:66.29, Z:0.52 [[ 5.80908079e-01 -8.13965123e-01 -2.56567625e-03 1.48057702e+02] [ 8.13957890e-01 5.80913737e-01 -3.43271419e-03 6.62946305e+01] [ 4.28454621e-03 -9.42610204e-05 9.99990817e-01 5.15520752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.838623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:148.07, Y:66.32, Z:0.51 [[ 5.77401140e-01 -8.16456579e-01 -2.56494901e-03 1.48073336e+02] [ 8.16449368e-01 5.77406826e-01 -3.43325751e-03 6.63161211e+01] [ 4.28412475e-03 -1.11784193e-04 9.99990817e-01 5.14478438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.09, Y:66.34, Z:0.52 [[ 5.76052299e-01 -8.17408817e-01 -2.56418778e-03 1.48090009e+02] [ 8.17401613e-01 5.76057993e-01 -3.43382595e-03 6.63378693e+01] [ 4.28396048e-03 -1.17907900e-04 9.99990817e-01 5.16109826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:66.36, Z:0.52 [[ 5.75328811e-01 -8.17918204e-01 -2.56343652e-03 1.48105997e+02] [ 8.17911002e-01 5.75334509e-01 -3.43438670e-03 6.63580978e+01] [ 4.28388089e-03 -1.20761315e-04 9.99990817e-01 5.15548272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.12, Y:66.38, Z:0.52 [[ 5.74940062e-01 -8.18191516e-01 -2.56285551e-03 1.48121140e+02] [ 8.18184315e-01 5.74945761e-01 -3.43482021e-03 6.63783745e+01] [ 4.28384367e-03 -1.22072429e-04 9.99990817e-01 5.15910516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.958623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.14, Y:66.40, Z:0.52 [[ 5.75768708e-01 -8.17608604e-01 -2.56221996e-03 1.48138331e+02] [ 8.17601396e-01 5.75774397e-01 -3.43529424e-03 6.63995739e+01] [ 4.28398678e-03 -1.16939691e-04 9.99990817e-01 5.16345559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.988623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:148.15, Y:66.42, Z:0.52 [[ 5.76293739e-01 -8.17238622e-01 -2.56149426e-03 1.48154973e+02] [ 8.17231408e-01 5.76299420e-01 -3.43583527e-03 6.64212005e+01] [ 4.28408493e-03 -1.13283205e-04 9.99990817e-01 5.17109538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.018623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:148.17, Y:66.44, Z:0.52 [[ 5.78428363e-01 -8.15729166e-01 -2.56075151e-03 1.48171584e+02] [ 8.15721934e-01 5.78434022e-01 -3.43638875e-03 6.64420388e+01] [ 4.28438832e-03 -1.01156460e-04 9.99990817e-01 5.17993983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.048623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:148.19, Y:66.46, Z:0.52 [[ 5.79745022e-01 -8.14793934e-01 -2.56017601e-03 1.48187956e+02] [ 8.14786691e-01 5.79750668e-01 -3.43681746e-03 6.64637427e+01] [ 4.28456177e-03 -9.35195246e-05 9.99990817e-01 5.18372366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.078623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:148.20, Y:66.49, Z:0.52 [[ 5.81086627e-01 -8.13837687e-01 -2.55944697e-03 1.48204757e+02] [ 8.13830432e-01 5.81092258e-01 -3.43736030e-03 6.64856685e+01] [ 4.28472817e-03 -8.55517338e-05 9.99990817e-01 5.18555894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.108623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:148.22, Y:66.51, Z:0.52 [[ 5.82419117e-01 -8.12884632e-01 -2.55871386e-03 1.48221071e+02] [ 8.12877366e-01 5.82424732e-01 -3.43790593e-03 6.65066685e+01] [ 4.28487913e-03 -7.76184468e-05 9.99990817e-01 5.18427526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.138623853 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:148.24, Y:66.53, Z:0.52 [[ 5.83729692e-01 -8.11944027e-01 -2.55794127e-03 1.48237391e+02] [ 8.11936750e-01 5.83735292e-01 -3.43848066e-03 6.65278461e+01] [ 4.28501444e-03 -6.97432649e-05 9.99990817e-01 5.18186561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.168623853 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:148.25, Y:66.55, Z:0.52 [[ 5.86302120e-01 -8.10088443e-01 -2.55714264e-03 1.48253655e+02] [ 8.10081145e-01 5.86307693e-01 -3.43907449e-03 6.65483353e+01] [ 4.28522690e-03 -5.51563726e-05 9.99990817e-01 5.17265419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19862385300002 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:148.27, Y:66.57, Z:0.52 [[ 5.87695808e-01 -8.09077933e-01 -2.55634345e-03 1.48269250e+02] [ 8.09070623e-01 5.87701366e-01 -3.43966844e-03 6.65685215e+01] [ 4.28532638e-03 -4.67836628e-05 9.99990817e-01 5.16228129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22862385300002 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:148.29, Y:66.59, Z:0.52 [[ 5.88976509e-01 -8.08146114e-01 -2.55570588e-03 1.48285363e+02] [ 8.08138792e-01 5.88982052e-01 -3.44014210e-03 6.65895727e+01] [ 4.28540236e-03 -3.92021858e-05 9.99990817e-01 5.16974712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25862385300002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:148.30, Y:66.61, Z:0.52 [[ 5.92244057e-01 -8.05754584e-01 -2.55490115e-03 1.48302343e+02] [ 8.05747238e-01 5.92249567e-01 -3.44073965e-03 6.66112382e+01] [ 4.28553084e-03 -2.08469400e-05 9.99990817e-01 5.17974657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28862385300002 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:148.32, Y:66.63, Z:0.52 [[ 5.93950750e-01 -8.04497348e-01 -2.55417102e-03 1.48318331e+02] [ 8.04489988e-01 5.93956242e-01 -3.44128156e-03 6.66331990e+01] [ 4.28556771e-03 -1.08532505e-05 9.99990817e-01 5.18895183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31862385300002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:148.33, Y:66.66, Z:0.52 [[ 5.95709096e-01 -8.03196211e-01 -2.55343814e-03 1.48334380e+02] [ 8.03188836e-01 5.95714568e-01 -3.44182528e-03 6.66552529e+01] [ 4.28558132e-03 -5.66383965e-07 9.99990817e-01 5.20514955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:148.35, Y:66.68, Z:0.52 [[ 5.98987321e-01 -8.00754440e-01 -2.55267750e-03 1.48348872e+02] [ 8.00747041e-01 5.98992760e-01 -3.44238932e-03 6.66767299e+01] [ 4.28554387e-03 1.78985995e-05 9.99990817e-01 5.21868114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37862385300002 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:148.36, Y:66.70, Z:0.52 [[ 6.00414918e-01 -7.99684572e-01 -2.55187894e-03 1.48364904e+02] [ 7.99677160e-01 6.00420340e-01 -3.44298120e-03 6.66986258e+01] [ 4.28549897e-03 2.65379747e-05 9.99990817e-01 5.23058028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40862385300002 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:148.38, Y:66.72, Z:0.52 [[ 6.01462068e-01 -7.98897285e-01 -2.55113927e-03 1.48379995e+02] [ 7.98889864e-01 6.01467478e-01 -3.44352919e-03 6.67194894e+01] [ 4.28545342e-03 3.30728823e-05 9.99990817e-01 5.23396755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43862385300002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:148.40, Y:66.74, Z:0.53 [[ 6.02313709e-01 -7.98255405e-01 -2.55036233e-03 1.48395694e+02] [ 7.98247976e-01 6.02319108e-01 -3.44410451e-03 6.67413554e+01] [ 4.28540700e-03 3.86097966e-05 9.99990817e-01 5.25060122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46862385300003 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:148.41, Y:66.76, Z:0.53 [[ 6.02958821e-01 -7.97768237e-01 -2.54962831e-03 1.48411047e+02] [ 7.97760801e-01 6.02964210e-01 -3.44464781e-03 6.67636899e+01] [ 4.28536523e-03 4.29872592e-05 9.99990817e-01 5.25297191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49862385300003 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:148.43, Y:66.79, Z:0.53 [[ 6.02788320e-01 -7.97897076e-01 -2.54889378e-03 1.48427308e+02] [ 7.97889639e-01 6.02793708e-01 -3.44519125e-03 6.67860633e+01] [ 4.28536515e-03 4.29851104e-05 9.99990817e-01 5.25415680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52862385300003 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:148.44, Y:66.81, Z:0.52 [[ 6.03618628e-01 -7.97269126e-01 -2.54815740e-03 1.48441345e+02] [ 7.97261681e-01 6.03624004e-01 -3.44573581e-03 6.68095180e+01] [ 4.28530775e-03 4.83620703e-05 9.99990817e-01 5.24277934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.558623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:148.46, Y:66.83, Z:0.52 [[ 6.03440787e-01 -7.97403742e-01 -2.54740071e-03 1.48456158e+02] [ 7.97396296e-01 6.03446162e-01 -3.44629513e-03 6.68314474e+01] [ 4.28530781e-03 4.83471501e-05 9.99990817e-01 5.23362323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588623853 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:148.47, Y:66.85, Z:0.53 [[ 6.03432987e-01 -7.97409647e-01 -2.54660790e-03 1.48470708e+02] [ 7.97402199e-01 6.03438359e-01 -3.44688087e-03 6.68537173e+01] [ 4.28529695e-03 4.92908810e-05 9.99990817e-01 5.30403050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.618623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:148.49, Y:66.88, Z:0.52 [[ 6.02471921e-01 -7.98136018e-01 -2.54582078e-03 1.48486495e+02] [ 7.98128574e-01 6.02477298e-01 -3.44746213e-03 6.68758220e+01] [ 4.28534292e-03 4.51068292e-05 9.99990817e-01 5.23668337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648623853 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:148.50, Y:66.90, Z:0.52 [[ 6.02108201e-01 -7.98410444e-01 -2.54507070e-03 1.48501248e+02] [ 7.98403000e-01 6.02113578e-01 -3.44801578e-03 6.68973468e+01] [ 4.28535344e-03 4.40864921e-05 9.99990817e-01 5.24350095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.678623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:148.52, Y:66.92, Z:0.52 [[ 6.01745548e-01 -7.98683806e-01 -2.54428304e-03 1.48516622e+02] [ 7.98676362e-01 6.01750926e-01 -3.44859690e-03 6.69194194e+01] [ 4.28536317e-03 4.31191090e-05 9.99990817e-01 5.24534234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708623853 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:148.53, Y:66.94, Z:0.52 [[ 6.01501727e-01 -7.98867450e-01 -2.54353535e-03 1.48531365e+02] [ 7.98860005e-01 6.01507103e-01 -3.44914827e-03 6.69406172e+01] [ 4.28536687e-03 4.27399823e-05 9.99990817e-01 5.24566894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.738623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:148.55, Y:66.96, Z:0.53 [[ 6.00957188e-01 -7.99277169e-01 -2.54274915e-03 1.48545487e+02] [ 7.99269725e-01 6.00962566e-01 -3.44972777e-03 6.69644371e+01] [ 4.28538570e-03 4.07962847e-05 9.99990817e-01 5.25601169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.768623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:148.56, Y:66.99, Z:0.53 [[ 6.00659416e-01 -7.99500972e-01 -2.54202300e-03 1.48560212e+02] [ 7.99493528e-01 6.00664794e-01 -3.45026277e-03 6.69872589e+01] [ 4.28539216e-03 4.01018827e-05 9.99990817e-01 5.25767797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.798623853 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:148.58, Y:67.01, Z:0.53 [[ 6.00178376e-01 -7.99862150e-01 -2.54129531e-03 1.48575204e+02] [ 7.99854707e-01 6.00183755e-01 -3.45079867e-03 6.70103625e+01] [ 4.28540740e-03 3.84277236e-05 9.99990817e-01 5.25661117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.828623853 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:148.59, Y:67.03, Z:0.52 [[ 5.99249024e-01 -8.00558650e-01 -2.54055894e-03 1.48589343e+02] [ 8.00551211e-01 5.99254409e-01 -3.45134072e-03 6.70330365e+01] [ 4.28544181e-03 3.43650231e-05 9.99990817e-01 5.24332739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.858623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:148.60, Y:67.06, Z:0.52 [[ 5.98671718e-01 -8.00990464e-01 -2.53978543e-03 1.48604143e+02] [ 8.00983026e-01 5.98677105e-01 -3.45190983e-03 6.70553853e+01] [ 4.28545825e-03 3.22357669e-05 9.99990817e-01 5.24066717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.888623853 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:148.62, Y:67.08, Z:0.52 [[ 5.98204190e-01 -8.01339691e-01 -2.53903259e-03 1.48618898e+02] [ 8.01332254e-01 5.98209578e-01 -3.45246349e-03 6.70777743e+01] [ 4.28546964e-03 3.06694158e-05 9.99990817e-01 5.24063178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.918623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:148.63, Y:67.10, Z:0.52 [[ 5.97511058e-01 -8.01856654e-01 -2.53827274e-03 1.48632229e+02] [ 8.01849219e-01 5.97516449e-01 -3.45302205e-03 6.71007207e+01] [ 4.28548842e-03 2.79068449e-05 9.99990817e-01 5.22926206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:148.65, Y:67.12, Z:0.52 [[ 5.97166752e-01 -8.02113104e-01 -2.53747617e-03 1.48646993e+02] [ 8.02105669e-01 5.97172143e-01 -3.45360732e-03 6.71230907e+01] [ 4.28549376e-03 2.70554452e-05 9.99990817e-01 5.21715186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:148.66, Y:67.15, Z:0.52 [[ 5.97002851e-01 -8.02235103e-01 -2.53673665e-03 1.48661330e+02] [ 8.02227667e-01 5.97008240e-01 -3.45415042e-03 6.71452542e+01] [ 4.28549340e-03 2.70973260e-05 9.99990817e-01 5.19785966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00862385300002 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:148.68, Y:67.17, Z:0.52 [[ 5.96746533e-01 -8.02425787e-01 -2.53616393e-03 1.48675733e+02] [ 8.02418351e-01 5.96751922e-01 -3.45457088e-03 6.71676536e+01] [ 4.28549746e-03 2.64387227e-05 9.99990817e-01 5.19228933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03862385300002 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:148.69, Y:67.19, Z:0.52 [[ 5.96191029e-01 -8.02838607e-01 -2.53537195e-03 1.48688973e+02] [ 8.02831172e-01 5.96196420e-01 -3.45515203e-03 6.71916014e+01] [ 4.28550912e-03 2.44550123e-05 9.99990817e-01 5.18576093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06862385300002 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:148.70, Y:67.21, Z:0.52 [[ 5.95703455e-01 -8.03200454e-01 -2.53463384e-03 1.48702793e+02] [ 8.03193021e-01 5.95708847e-01 -3.45569341e-03 6.72140137e+01] [ 4.28551832e-03 2.27682946e-05 9.99990817e-01 5.18719135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:148.72, Y:67.24, Z:0.52 [[ 5.94974536e-01 -8.03740555e-01 -2.53406241e-03 1.48717149e+02] [ 8.03733125e-01 5.94979932e-01 -3.45611239e-03 6.72362898e+01] [ 4.28553397e-03 1.95889618e-05 9.99990817e-01 5.18332964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:148.73, Y:67.26, Z:0.52 [[ 5.94034813e-01 -8.04435344e-01 -2.53350005e-03 1.48731785e+02] [ 8.04427918e-01 5.94040215e-01 -3.45652458e-03 6.72586989e+01] [ 4.28555145e-03 1.52777603e-05 9.99990817e-01 5.20611378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15862385300002 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:148.75, Y:67.28, Z:0.52 [[ 5.92194400e-01 -8.05791150e-01 -2.53277402e-03 1.48745974e+02] [ 8.05783734e-01 5.92199817e-01 -3.45705649e-03 6.72819117e+01] [ 4.28557384e-03 6.38138468e-06 9.99990817e-01 5.23047339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18862385300002 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:148.76, Y:67.31, Z:0.53 [[ 5.91501466e-01 -8.06299947e-01 -2.53204789e-03 1.48760408e+02] [ 8.06292533e-01 5.91506886e-01 -3.45758825e-03 6.73050577e+01] [ 4.28557699e-03 3.59721633e-06 9.99990817e-01 5.29526997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21862385300003 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:148.78, Y:67.33, Z:0.53 [[ 5.90423858e-01 -8.07089375e-01 -2.53132422e-03 1.48775030e+02] [ 8.07081967e-01 5.90429285e-01 -3.45811798e-03 6.73272397e+01] [ 4.28557822e-03 -1.23077020e-06 9.99990817e-01 5.26646296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:148.79, Y:67.35, Z:0.52 [[ 5.88727598e-01 -8.08327540e-01 -2.53052286e-03 1.48789860e+02] [ 8.08320141e-01 5.88733036e-01 -3.45870428e-03 6.73495463e+01] [ 4.28556833e-03 -9.23793340e-06 9.99990817e-01 5.21218647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27862385300003 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:148.80, Y:67.37, Z:0.52 [[ 5.87903296e-01 -8.08927262e-01 -2.52972689e-03 1.48804331e+02] [ 8.08919865e-01 5.87908739e-01 -3.45928636e-03 6.73703607e+01] [ 4.28555959e-03 -1.26204766e-05 9.99990817e-01 5.20704538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:148.82, Y:67.39, Z:0.52 [[ 5.87136093e-01 -8.09484288e-01 -2.52889286e-03 1.48818821e+02] [ 8.09476894e-01 5.87141539e-01 -3.45989597e-03 6.73915001e+01] [ 4.28554947e-03 -1.56505337e-05 9.99990817e-01 5.19635513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.338623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:148.83, Y:67.41, Z:0.52 [[ 5.86364551e-01 -8.10043346e-01 -2.52807094e-03 1.48832894e+02] [ 8.10035955e-01 5.86370000e-01 -3.46049643e-03 6.74124964e+01] [ 4.28553706e-03 -1.87159224e-05 9.99990817e-01 5.19161445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:148.85, Y:67.43, Z:0.52 [[ 5.86043407e-01 -8.10275717e-01 -2.52725100e-03 1.48847514e+02] [ 8.10268326e-01 5.86048856e-01 -3.46109514e-03 6.74338853e+01] [ 4.28553390e-03 -1.93994492e-05 9.99990817e-01 5.19113466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.398623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:148.86, Y:67.46, Z:0.52 [[ 5.85685770e-01 -8.10534266e-01 -2.52647505e-03 1.48862365e+02] [ 8.10526874e-01 5.85691219e-01 -3.46166146e-03 6.74557407e+01] [ 4.28552948e-03 -2.03300704e-05 9.99990817e-01 5.19781011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:148.88, Y:67.48, Z:0.52 [[ 5.85090444e-01 -8.10964113e-01 -2.52569831e-03 1.48877234e+02] [ 8.10956723e-01 5.85095895e-01 -3.46222809e-03 6.74778169e+01] [ 4.28551845e-03 -2.25154586e-05 9.99990817e-01 5.20395985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.458623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:148.89, Y:67.50, Z:0.52 [[ 5.84101956e-01 -8.11676370e-01 -2.52492715e-03 1.48892853e+02] [ 8.11668984e-01 5.84107413e-01 -3.46279039e-03 6.74988866e+01] [ 4.28549380e-03 -2.67824161e-05 9.99990817e-01 5.21491587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.488623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:148.91, Y:67.52, Z:0.52 [[ 5.83444133e-01 -8.12149353e-01 -2.52415361e-03 1.48908348e+02] [ 8.12141969e-01 5.83449593e-01 -3.46335416e-03 6.75195442e+01] [ 4.28547723e-03 -2.92974223e-05 9.99990817e-01 5.22291521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.518623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:148.92, Y:67.54, Z:0.52 [[ 5.82837157e-01 -8.12585061e-01 -2.52338193e-03 1.48923320e+02] [ 8.12577678e-01 5.82842619e-01 -3.46391631e-03 6.75398554e+01] [ 4.28546118e-03 -3.15446900e-05 9.99990817e-01 5.22500533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.548623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:148.94, Y:67.56, Z:0.52 [[ 5.82372586e-01 -8.12918082e-01 -2.52257616e-03 1.48938715e+02] [ 8.12910700e-01 5.82378048e-01 -3.46450300e-03 6.75609195e+01] [ 4.28545012e-03 -3.29975813e-05 9.99990817e-01 5.23634535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.578623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:148.95, Y:67.58, Z:0.52 [[ 5.82034845e-01 -8.13159935e-01 -2.52181242e-03 1.48952907e+02] [ 8.13152553e-01 5.82040308e-01 -3.46505884e-03 6.75815504e+01] [ 4.28544350e-03 -3.38332242e-05 9.99990817e-01 5.23616565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.608623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:148.97, Y:67.60, Z:0.53 [[ 5.82132415e-01 -8.13090091e-01 -2.52101612e-03 1.48968831e+02] [ 8.13082706e-01 5.82137873e-01 -3.46563810e-03 6.76040235e+01] [ 4.28545496e-03 -3.23343281e-05 9.99990817e-01 5.25021915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.638623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:148.98, Y:67.63, Z:0.52 [[ 5.82382891e-01 -8.12910707e-01 -2.52025874e-03 1.48984550e+02] [ 8.12903317e-01 5.82388343e-01 -3.46618878e-03 6.76254176e+01] [ 4.28547129e-03 -3.00776506e-05 9.99990817e-01 5.23716640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.668623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:149.00, Y:67.65, Z:0.52 [[ 5.82644633e-01 -8.12723129e-01 -2.51946224e-03 1.49000640e+02] [ 8.12715735e-01 5.82650080e-01 -3.46676764e-03 6.76474650e+01] [ 4.28548712e-03 -2.77130502e-05 9.99990817e-01 5.23520485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69862385300002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:149.02, Y:67.67, Z:0.52 [[ 5.83382054e-01 -8.12193964e-01 -2.51873575e-03 1.49015973e+02] [ 8.12186563e-01 5.83387491e-01 -3.46729538e-03 6.76683389e+01] [ 4.28551531e-03 -2.29254340e-05 9.99990817e-01 5.20925446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:149.03, Y:67.69, Z:0.52 [[ 5.85016631e-01 -8.11017386e-01 -2.51797202e-03 1.49031058e+02] [ 8.11009972e-01 5.85022050e-01 -3.46784992e-03 6.76895509e+01] [ 4.28555573e-03 -1.33505411e-05 9.99990817e-01 5.22894275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75862385300002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:149.05, Y:67.71, Z:0.52 [[ 5.85982813e-01 -8.10319571e-01 -2.51717239e-03 1.49045500e+02] [ 8.10312148e-01 5.85988219e-01 -3.46843024e-03 6.77097628e+01] [ 4.28557027e-03 -7.25485845e-06 9.99990817e-01 5.21978383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.06, Y:67.73, Z:0.52 [[ 5.86882889e-01 -8.09667922e-01 -2.51633379e-03 1.49060728e+02] [ 8.09660490e-01 5.86888283e-01 -3.46903853e-03 6.77317164e+01] [ 4.28557604e-03 -1.45669774e-06 9.99990817e-01 5.24500111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81862385300002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:149.08, Y:67.75, Z:0.53 [[ 5.89113078e-01 -8.08046690e-01 -2.51560501e-03 1.49075682e+02] [ 8.08039241e-01 5.89118449e-01 -3.46956694e-03 6.77547798e+01] [ 4.28556140e-03 1.12596935e-05 9.99990817e-01 5.25774569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84862385300002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:149.09, Y:67.78, Z:0.53 [[ 5.90071605e-01 -8.07346999e-01 -2.51486072e-03 1.49089723e+02] [ 8.07339541e-01 5.90076964e-01 -3.47010634e-03 6.77765759e+01] [ 4.28554132e-03 1.72647113e-05 9.99990817e-01 5.29173340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:149.11, Y:67.80, Z:0.53 [[ 5.90593560e-01 -8.06965257e-01 -2.51428379e-03 1.49105695e+02] [ 8.06957794e-01 5.90598911e-01 -3.47052431e-03 6.77984979e+01] [ 4.28552581e-03 2.07484004e-05 9.99990817e-01 5.25068543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:149.12, Y:67.82, Z:0.52 [[ 5.91028972e-01 -8.06646413e-01 -2.51351782e-03 1.49121020e+02] [ 8.06638945e-01 5.91034317e-01 -3.47107897e-03 6.78201581e+01] [ 4.28550869e-03 2.40068777e-05 9.99990817e-01 5.23097662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:149.14, Y:67.84, Z:0.52 [[ 5.91172161e-01 -8.06541482e-01 -2.51271366e-03 1.49135665e+02] [ 8.06534011e-01 5.91177501e-01 -3.47166101e-03 6.78411852e+01] [ 4.28549839e-03 2.57603176e-05 9.99990817e-01 5.21994523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:149.15, Y:67.86, Z:0.52 [[ 5.90921923e-01 -8.06724843e-01 -2.51187826e-03 1.49150733e+02] [ 8.06717371e-01 5.90927261e-01 -3.47226534e-03 6.78643437e+01] [ 4.28550005e-03 2.54618809e-05 9.99990817e-01 5.23504416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99862385300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:149.17, Y:67.89, Z:0.52 [[ 5.90395125e-01 -8.07110458e-01 -2.51111845e-03 1.49165164e+02] [ 8.07102986e-01 5.90400465e-01 -3.47281474e-03 6.78865228e+01] [ 4.28551060e-03 2.36016931e-05 9.99990817e-01 5.20571815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:149.18, Y:67.91, Z:0.52 [[ 5.89757861e-01 -8.07576228e-01 -2.51031984e-03 1.49180089e+02] [ 8.07568758e-01 5.89763203e-01 -3.47339192e-03 6.79089791e+01] [ 4.28552302e-03 2.12043153e-05 9.99990817e-01 5.23392733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.058623853 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:149.19, Y:67.93, Z:0.52 [[ 5.87880614e-01 -8.08943809e-01 -2.50956428e-03 1.49194786e+02] [ 8.08936349e-01 5.87885971e-01 -3.47393774e-03 6.79308100e+01] [ 4.28555806e-03 1.21828875e-05 9.99990817e-01 5.21229750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:149.21, Y:67.95, Z:0.52 [[ 5.86621362e-01 -8.09857447e-01 -2.50877345e-03 1.49210052e+02] [ 8.09849994e-01 5.86626726e-01 -3.47450876e-03 6.79535226e+01] [ 4.28557035e-03 6.49089377e-06 9.99990817e-01 5.24947180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.118623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:149.22, Y:67.98, Z:0.53 [[ 5.85274715e-01 -8.10831189e-01 -2.50803522e-03 1.49224668e+02] [ 8.10823743e-01 5.85280089e-01 -3.47504156e-03 6.79753334e+01] [ 4.28557516e-03 2.79450343e-07 9.99990817e-01 5.25876877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:149.24, Y:68.00, Z:0.53 [[ 5.83738678e-01 -8.11937725e-01 -2.50725948e-03 1.49240044e+02] [ 8.11930286e-01 5.83744062e-01 -3.47560117e-03 6.79974285e+01] [ 4.28556954e-03 -6.87707663e-06 9.99990817e-01 5.26376599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.178623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:149.26, Y:68.02, Z:0.53 [[ 5.79947483e-01 -8.14650007e-01 -2.50652420e-03 1.49256217e+02] [ 8.14642591e-01 5.79952899e-01 -3.47613135e-03 6.80192070e+01] [ 4.28549641e-03 -2.59477456e-05 9.99990817e-01 5.27443418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:149.27, Y:68.04, Z:0.53 [[ 5.77702328e-01 -8.16243678e-01 -2.50578948e-03 1.49271797e+02] [ 8.16236274e-01 5.77707761e-01 -3.47666090e-03 6.80399207e+01] [ 4.28541651e-03 -3.68411689e-05 9.99990817e-01 5.27487131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.238623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:149.29, Y:68.06, Z:0.53 [[ 5.75055215e-01 -8.18110765e-01 -2.50522074e-03 1.49288366e+02] [ 8.18103377e-01 5.75060670e-01 -3.47707068e-03 6.80617111e+01] [ 4.28528287e-03 -5.00219247e-05 9.99990817e-01 5.27394804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.268623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:149.30, Y:68.08, Z:0.53 [[ 5.70044232e-01 -8.21610188e-01 -2.50449262e-03 1.49304415e+02] [ 8.21602832e-01 5.70049728e-01 -3.47759506e-03 6.80808365e+01] [ 4.28491287e-03 -7.53152231e-05 9.99990817e-01 5.26320578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.298623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:149.32, Y:68.10, Z:0.53 [[ 5.67813805e-01 -8.23153214e-01 -2.50365064e-03 1.49320431e+02] [ 8.23145870e-01 5.67819318e-01 -3.47820112e-03 6.81027690e+01] [ 4.28471363e-03 -8.58990680e-05 9.99990817e-01 5.32863923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.328623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:149.34, Y:68.12, Z:0.53 [[ 5.65388328e-01 -8.24821056e-01 -2.50291600e-03 1.49337756e+02] [ 8.24813726e-01 5.65393860e-01 -3.47872969e-03 6.81234630e+01] [ 4.28446283e-03 -9.76063109e-05 9.99990817e-01 5.25501865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.358623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:149.36, Y:68.14, Z:0.53 [[ 5.62433023e-01 -8.26839062e-01 -2.50215759e-03 1.49355537e+02] [ 8.26831749e-01 5.62438577e-01 -3.47927511e-03 6.81437865e+01] [ 4.28411052e-03 -1.12004123e-04 9.99990817e-01 5.25464792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.388623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:149.37, Y:68.16, Z:0.53 [[ 5.61696799e-01 -8.27339380e-01 -2.50139298e-03 1.49371427e+02] [ 8.27332069e-01 5.61702357e-01 -3.47982473e-03 6.81640635e+01] [ 4.28403437e-03 -1.14876223e-04 9.99990817e-01 5.25558261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.418623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:149.39, Y:68.19, Z:0.53 [[ 5.61516778e-01 -8.27461573e-01 -2.50080156e-03 1.49387387e+02] [ 8.27454262e-01 5.61522335e-01 -3.48024971e-03 6.81866433e+01] [ 4.28402883e-03 -1.15080306e-04 9.99990817e-01 5.25676749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44862385300002 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:149.41, Y:68.21, Z:0.53 [[ 5.61028647e-01 -8.27792611e-01 -2.50004422e-03 1.49405116e+02] [ 8.27785301e-01 5.61034205e-01 -3.48079366e-03 6.82078622e+01] [ 4.28398559e-03 -1.16674900e-04 9.99990817e-01 5.26185538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47862385300002 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:149.42, Y:68.23, Z:0.54 [[ 5.61162576e-01 -8.27701828e-01 -2.49927756e-03 1.49421810e+02] [ 8.27694515e-01 5.61168130e-01 -3.48134405e-03 6.82279157e+01] [ 4.28402975e-03 -1.15038329e-04 9.99990817e-01 5.35799227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:149.44, Y:68.25, Z:0.53 [[ 5.61093535e-01 -8.27748635e-01 -2.49847342e-03 1.49441306e+02] [ 8.27741320e-01 5.61099086e-01 -3.48192107e-03 6.82465360e+01] [ 4.28404656e-03 -1.14406287e-04 9.99990817e-01 5.28371708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:149.46, Y:68.27, Z:0.53 [[ 5.61363901e-01 -8.27565304e-01 -2.49769404e-03 1.49457203e+02] [ 8.27557984e-01 5.61369446e-01 -3.48248005e-03 6.82666502e+01] [ 4.28410878e-03 -1.12048061e-04 9.99990817e-01 5.28741895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56862385300002 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:149.47, Y:68.29, Z:0.53 [[ 5.61769729e-01 -8.27289875e-01 -2.49684667e-03 1.49473461e+02] [ 8.27282550e-01 5.61775267e-01 -3.48308748e-03 6.82870408e+01] [ 4.28418971e-03 -1.08904573e-04 9.99990817e-01 5.29235340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:149.49, Y:68.31, Z:0.53 [[ 5.62115944e-01 -8.27054675e-01 -2.49604380e-03 1.49489969e+02] [ 8.27047345e-01 5.62121476e-01 -3.48366274e-03 6.83076675e+01] [ 4.28425938e-03 -1.06124021e-04 9.99990817e-01 5.30064484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:149.51, Y:68.33, Z:0.53 [[ 5.63224626e-01 -8.26300063e-01 -2.49523783e-03 1.49509292e+02] [ 8.26292723e-01 5.63230145e-01 -3.48423994e-03 6.83272758e+01] [ 4.28442084e-03 -9.93871247e-05 9.99990817e-01 5.31395826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65862385300002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:149.53, Y:68.35, Z:0.53 [[ 5.64038820e-01 -8.25744505e-01 -2.49448311e-03 1.49526304e+02] [ 8.25737157e-01 5.64044328e-01 -3.48478018e-03 6.83468391e+01] [ 4.28453713e-03 -9.42360900e-05 9.99990817e-01 5.30523968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68862385300002 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:149.54, Y:68.37, Z:0.53 [[ 5.64981376e-01 -8.25099889e-01 -2.49369169e-03 1.49543672e+02] [ 8.25092532e-01 5.64986872e-01 -3.48534642e-03 6.83672299e+01] [ 4.28466202e-03 -8.83705768e-05 9.99990817e-01 5.30986230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71862385300003 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:149.56, Y:68.39, Z:0.53 [[ 5.67266314e-01 -8.23530640e-01 -2.49289337e-03 1.49562569e+02] [ 8.23523266e-01 5.67271786e-01 -3.48591733e-03 6.83864871e+01] [ 4.28490780e-03 -7.55122095e-05 9.99990817e-01 5.32032304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74862385300003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:149.58, Y:68.41, Z:0.53 [[ 5.68772883e-01 -8.22490849e-01 -2.49213897e-03 1.49579545e+02] [ 8.22483462e-01 5.68778339e-01 -3.48645658e-03 6.84063582e+01] [ 4.28505330e-03 -6.67411337e-05 9.99990817e-01 5.31463396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77862385300003 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:149.60, Y:68.43, Z:0.53 [[ 5.70540520e-01 -8.21265674e-01 -2.49134253e-03 1.49596953e+02] [ 8.21258274e-01 5.70545957e-01 -3.48702560e-03 6.84271887e+01] [ 4.28519984e-03 -5.65462642e-05 9.99990817e-01 5.31955621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:149.61, Y:68.45, Z:0.53 [[ 5.72597000e-01 -8.19833198e-01 -2.49058077e-03 1.49613367e+02] [ 8.19825781e-01 5.72602414e-01 -3.48756960e-03 6.84474065e+01] [ 4.28533790e-03 -4.48704309e-05 9.99990817e-01 5.30940168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.838623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:149.63, Y:68.47, Z:0.53 [[ 5.76788129e-01 -8.16889989e-01 -2.48999239e-03 1.49631122e+02] [ 8.16882542e-01 5.76793504e-01 -3.48798963e-03 6.84681543e+01] [ 4.28551525e-03 -2.22002986e-05 9.99990817e-01 5.33178577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.65, Y:68.49, Z:0.53 [[ 5.78903526e-01 -8.15392244e-01 -2.48922414e-03 1.49647570e+02] [ 8.15384781e-01 5.78908878e-01 -3.48853781e-03 6.84895802e+01] [ 4.28556063e-03 -1.01486417e-05 9.99990817e-01 5.33204799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.898623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:149.66, Y:68.51, Z:0.53 [[ 5.80990558e-01 -8.13906493e-01 -2.48845188e-03 1.49663655e+02] [ 8.13899014e-01 5.80995887e-01 -3.48908859e-03 6.85104274e+01] [ 4.28557217e-03 1.77899823e-06 9.99990817e-01 5.32774559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:149.68, Y:68.53, Z:0.53 [[ 5.85201487e-01 -8.10884105e-01 -2.48764144e-03 1.49680386e+02] [ 8.10876596e-01 5.85206774e-01 -3.48966633e-03 6.85302729e+01] [ 4.28549957e-03 2.49877038e-05 9.99990817e-01 5.30995918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.958623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:149.70, Y:68.55, Z:0.53 [[ 5.86888775e-01 -8.09663746e-01 -2.48684087e-03 1.49695426e+02] [ 8.09656224e-01 5.86894043e-01 -3.49023674e-03 6.85513966e+01] [ 4.28543025e-03 3.48945754e-05 9.99990817e-01 5.31014237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.988623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:149.71, Y:68.57, Z:0.53 [[ 5.88619600e-01 -8.08406325e-01 -2.48601737e-03 1.49710706e+02] [ 8.08398789e-01 5.88624848e-01 -3.49082320e-03 6.85733029e+01] [ 4.28533515e-03 4.50735206e-05 9.99990817e-01 5.30586490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.018623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:149.73, Y:68.60, Z:0.53 [[ 5.89908027e-01 -8.07466621e-01 -2.48520006e-03 1.49726448e+02] [ 8.07459074e-01 5.89913259e-01 -3.49140497e-03 6.85956439e+01] [ 4.28524544e-03 5.29104717e-05 9.99990817e-01 5.30364676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.048623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:149.74, Y:68.62, Z:0.53 [[ 5.91035550e-01 -8.06641684e-01 -2.48446039e-03 1.49742204e+02] [ 8.06634128e-01 5.91040769e-01 -3.49193124e-03 6.86173590e+01] [ 4.28515467e-03 5.98049591e-05 9.99990817e-01 5.30433426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.078623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:149.76, Y:68.64, Z:0.53 [[ 5.93073287e-01 -8.05144650e-01 -2.48371034e-03 1.49757899e+02] [ 8.05137078e-01 5.93078484e-01 -3.49246464e-03 6.86387137e+01] [ 4.28497438e-03 7.15601949e-05 9.99990817e-01 5.29958718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.108623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:149.77, Y:68.66, Z:0.53 [[ 5.93477766e-01 -8.04846554e-01 -2.48292237e-03 1.49772668e+02] [ 8.04838978e-01 5.93482955e-01 -3.49302475e-03 6.86600168e+01] [ 4.28492104e-03 7.46798255e-05 9.99990817e-01 5.30138523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.138623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:149.79, Y:68.68, Z:0.53 [[ 5.94375584e-01 -8.04183750e-01 -2.48214290e-03 1.49787412e+02] [ 8.04176166e-01 5.94380761e-01 -3.49357855e-03 6.86813638e+01] [ 4.28481709e-03 8.04176365e-05 9.99990817e-01 5.30245561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.168623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:149.80, Y:68.70, Z:0.53 [[ 5.94325359e-01 -8.04220872e-01 -2.48136886e-03 1.49801754e+02] [ 8.04213285e-01 5.94330533e-01 -3.49412824e-03 6.87032199e+01] [ 4.28480414e-03 8.10992201e-05 9.99990817e-01 5.31377405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:149.82, Y:68.73, Z:0.53 [[ 5.94139509e-01 -8.04358185e-01 -2.48056002e-03 1.49816852e+02] [ 8.04350598e-01 5.94144682e-01 -3.49470236e-03 6.87258043e+01] [ 4.28480399e-03 8.11008042e-05 9.99990817e-01 5.31963081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:149.83, Y:68.75, Z:0.53 [[ 5.93920430e-01 -8.04519965e-01 -2.47983118e-03 1.49832280e+02] [ 8.04512376e-01 5.93925601e-01 -3.49521946e-03 6.87476608e+01] [ 4.28480907e-03 8.08273704e-05 9.99990817e-01 5.32045242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25862385300002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:149.85, Y:68.77, Z:0.53 [[ 5.92962678e-01 -8.05226128e-01 -2.47910042e-03 1.49847980e+02] [ 8.05218543e-01 5.92967855e-01 -3.49573771e-03 6.87700839e+01] [ 4.28488619e-03 7.66243661e-05 9.99990817e-01 5.32334522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.86, Y:68.79, Z:0.53 [[ 5.92276220e-01 -8.05731182e-01 -2.47836799e-03 1.49862213e+02] [ 8.05723599e-01 5.92281401e-01 -3.49625690e-03 6.87906504e+01] [ 4.28493447e-03 7.38702450e-05 9.99990817e-01 5.32920563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:149.88, Y:68.81, Z:0.53 [[ 5.91598392e-01 -8.06229002e-01 -2.47751818e-03 1.49876528e+02] [ 8.06221422e-01 5.91603576e-01 -3.49685899e-03 6.88118560e+01] [ 4.28497775e-03 7.13079231e-05 9.99990817e-01 5.33309196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.89, Y:68.83, Z:0.53 [[ 5.90751729e-01 -8.06849590e-01 -2.47667584e-03 1.49890569e+02] [ 8.06842012e-01 5.90756917e-01 -3.49745548e-03 6.88326533e+01] [ 4.28503390e-03 6.78417589e-05 9.99990817e-01 5.33031883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:149.90, Y:68.85, Z:0.53 [[ 5.89321027e-01 -8.07895164e-01 -2.47603605e-03 1.49904957e+02] [ 8.07887594e-01 5.89326225e-01 -3.49790836e-03 6.88541197e+01] [ 4.28513623e-03 6.10321344e-05 9.99990817e-01 5.33653302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:149.92, Y:68.88, Z:0.53 [[ 5.88635816e-01 -8.08394551e-01 -2.47524303e-03 1.49919053e+02] [ 8.08386983e-01 5.88641017e-01 -3.49846944e-03 6.88751749e+01] [ 4.28517321e-03 5.83701668e-05 9.99990817e-01 5.32878424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:149.93, Y:68.90, Z:0.53 [[ 5.87739701e-01 -8.09046304e-01 -2.47441195e-03 1.49933264e+02] [ 8.09038739e-01 5.87744907e-01 -3.49905715e-03 6.88971038e+01] [ 4.28522227e-03 5.46396775e-05 9.99990817e-01 5.32289287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46862385300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:149.95, Y:68.92, Z:0.53 [[ 5.86493495e-01 -8.09950160e-01 -2.47360269e-03 1.49947963e+02] [ 8.09942601e-01 5.86498709e-01 -3.49962915e-03 6.89203551e+01] [ 4.28528998e-03 4.90335314e-05 9.99990817e-01 5.31987262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:149.96, Y:68.94, Z:0.53 [[ 5.85822869e-01 -8.10435347e-01 -2.47284423e-03 1.49962853e+02] [ 8.10427790e-01 5.85828086e-01 -3.50016500e-03 6.89424351e+01] [ 4.28531904e-03 4.64150191e-05 9.99990817e-01 5.31759175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:149.98, Y:68.96, Z:0.53 [[ 5.85135426e-01 -8.10931823e-01 -2.47204801e-03 1.49976832e+02] [ 8.10924268e-01 5.85140646e-01 -3.50072725e-03 6.89632828e+01] [ 4.28534690e-03 4.37558025e-05 9.99990817e-01 5.30694746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.558623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:149.99, Y:68.99, Z:0.53 [[ 5.84431158e-01 -8.11439532e-01 -2.47139509e-03 1.49991505e+02] [ 8.11431979e-01 5.84436382e-01 -3.50118813e-03 6.89859218e+01] [ 4.28537566e-03 4.08344262e-05 9.99990817e-01 5.32780853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:150.01, Y:69.01, Z:0.53 [[ 5.83317329e-01 -8.12240598e-01 -2.47063683e-03 1.50005194e+02] [ 8.12233051e-01 5.83322560e-01 -3.50172312e-03 6.90080458e+01] [ 4.28541988e-03 3.58828809e-05 9.99990817e-01 5.30446896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.618623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:150.02, Y:69.03, Z:0.53 [[ 5.82586937e-01 -8.12764640e-01 -2.46984042e-03 1.50019813e+02] [ 8.12757095e-01 5.82592172e-01 -3.50228476e-03 6.90305152e+01] [ 4.28544290e-03 3.30050287e-05 9.99990817e-01 5.31324638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:150.03, Y:69.05, Z:0.53 [[ 5.81718772e-01 -8.13386240e-01 -2.46900896e-03 1.50033266e+02] [ 8.13378697e-01 5.81724011e-01 -3.50287081e-03 6.90515290e+01] [ 4.28546871e-03 2.94464171e-05 9.99990817e-01 5.29567065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.678623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:150.05, Y:69.07, Z:0.53 [[ 5.80827191e-01 -8.14023146e-01 -2.46814048e-03 1.50047738e+02] [ 8.14015607e-01 5.80832435e-01 -3.50348264e-03 6.90737577e+01] [ 4.28549200e-03 2.58131049e-05 9.99990817e-01 5.29869423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.06, Y:69.10, Z:0.53 [[ 5.78773613e-01 -8.15484529e-01 -2.46733759e-03 1.50061740e+02] [ 8.15477001e-01 5.78778872e-01 -3.50404798e-03 6.90961060e+01] [ 4.28553979e-03 1.59934489e-05 9.99990817e-01 5.29487202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.738623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:150.08, Y:69.12, Z:0.53 [[ 5.77712869e-01 -8.16236337e-01 -2.46652476e-03 1.50075558e+02] [ 8.16228813e-01 5.77718134e-01 -3.50462005e-03 6.91174344e+01] [ 4.28555431e-03 1.14155289e-05 9.99990817e-01 5.28029955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.768623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:150.09, Y:69.14, Z:0.53 [[ 5.76613596e-01 -8.17013269e-01 -2.46567442e-03 1.50090163e+02] [ 8.17005750e-01 5.76618867e-01 -3.50521820e-03 6.91397350e+01] [ 4.28556417e-03 6.68628871e-06 9.99990817e-01 5.30776808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.798623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:150.10, Y:69.16, Z:0.53 [[ 5.75573520e-01 -8.17746322e-01 -2.46485579e-03 1.50104363e+02] [ 8.17738807e-01 5.75578798e-01 -3.50579377e-03 6.91612131e+01] [ 4.28556869e-03 2.23382772e-06 9.99990817e-01 5.31255638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.828623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:150.12, Y:69.18, Z:0.53 [[ 5.74603707e-01 -8.18428072e-01 -2.46400004e-03 1.50118758e+02] [ 8.18420560e-01 5.74608990e-01 -3.50639511e-03 6.91831564e+01] [ 4.28556877e-03 -1.80066253e-06 9.99990817e-01 5.31568678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.858623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:150.13, Y:69.20, Z:0.53 [[ 5.72603483e-01 -8.19828753e-01 -2.46319336e-03 1.50131774e+02] [ 8.19821252e-01 5.72608781e-01 -3.50696170e-03 6.92045645e+01] [ 4.28555419e-03 -1.12797826e-05 9.99990817e-01 5.31832009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.888623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:150.15, Y:69.23, Z:0.53 [[ 5.71629074e-01 -8.20508463e-01 -2.46234874e-03 1.50146245e+02] [ 8.20500966e-01 5.71634377e-01 -3.50755464e-03 6.92265926e+01] [ 4.28554146e-03 -1.53393129e-05 9.99990817e-01 5.32176625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.918623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:150.16, Y:69.25, Z:0.53 [[ 5.70631186e-01 -8.21202771e-01 -2.46154857e-03 1.50160762e+02] [ 8.21195278e-01 5.70636495e-01 -3.50811610e-03 6.92487809e+01] [ 4.28552411e-03 -1.95716107e-05 9.99990817e-01 5.33047194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:150.18, Y:69.27, Z:0.53 [[ 5.69648560e-01 -8.21884702e-01 -2.46071755e-03 1.50175039e+02] [ 8.21877213e-01 5.69653874e-01 -3.50869891e-03 6.92693288e+01] [ 4.28550324e-03 -2.36823965e-05 9.99990817e-01 5.32718817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.19, Y:69.29, Z:0.53 [[ 5.67607572e-01 -8.23295569e-01 -2.45984920e-03 1.50188877e+02] [ 8.23288090e-01 5.67612901e-01 -3.50930758e-03 6.92908797e+01] [ 4.28543952e-03 -3.32549941e-05 9.99990817e-01 5.31830779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.20, Y:69.31, Z:0.53 [[ 5.66387995e-01 -8.24135056e-01 -2.45921773e-03 1.50203876e+02] [ 8.24127584e-01 5.66393333e-01 -3.50975004e-03 6.93131587e+01] [ 4.28539257e-03 -3.88288755e-05 9.99990817e-01 5.33691718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.22, Y:69.33, Z:0.53 [[ 5.64245169e-01 -8.25603625e-01 -2.45844368e-03 1.50219490e+02] [ 8.25596164e-01 5.64250523e-01 -3.51029214e-03 6.93339496e+01] [ 4.28528805e-03 -4.90162879e-05 9.99990817e-01 5.32139457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:150.23, Y:69.35, Z:0.53 [[ 5.62896600e-01 -8.26523670e-01 -2.45763059e-03 1.50234168e+02] [ 8.26516215e-01 5.62901963e-01 -3.51086131e-03 6.93540367e+01] [ 4.28521506e-03 -5.50196395e-05 9.99990817e-01 5.31732813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:150.25, Y:69.38, Z:0.53 [[ 5.61620461e-01 -8.27391336e-01 -2.45675478e-03 1.50248982e+02] [ 8.27383887e-01 5.61625831e-01 -3.51147406e-03 6.93751088e+01] [ 4.28514016e-03 -6.05636376e-05 9.99990817e-01 5.30810098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:150.26, Y:69.40, Z:0.53 [[ 5.60527703e-01 -8.28132032e-01 -2.45589074e-03 1.50264834e+02] [ 8.28124588e-01 5.60533079e-01 -3.51207826e-03 6.93964261e+01] [ 4.28507251e-03 -6.51663504e-05 9.99990817e-01 5.30951350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15862385300002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:150.28, Y:69.42, Z:0.53 [[ 5.58755117e-01 -8.29329061e-01 -2.45507212e-03 1.50280789e+02] [ 8.29321626e-01 5.58760505e-01 -3.51265041e-03 6.94159562e+01] [ 4.28494041e-03 -7.33330066e-05 9.99990817e-01 5.31706582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18862385300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:150.30, Y:69.44, Z:0.53 [[ 5.57918515e-01 -8.29892106e-01 -2.45421562e-03 1.50296726e+02] [ 8.29884673e-01 5.57923907e-01 -3.51324873e-03 6.94381614e+01] [ 4.28488296e-03 -7.66094153e-05 9.99990817e-01 5.33314799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:150.31, Y:69.46, Z:0.53 [[ 5.57568967e-01 -8.30126995e-01 -2.45345308e-03 1.50312729e+02] [ 8.30119562e-01 5.57574360e-01 -3.51378116e-03 6.94594810e+01] [ 4.28486713e-03 -7.74840592e-05 9.99990817e-01 5.33173342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:150.33, Y:69.48, Z:0.53 [[ 5.57217268e-01 -8.30363113e-01 -2.45286300e-03 1.50328053e+02] [ 8.30355680e-01 5.57222662e-01 -3.51419303e-03 6.94791112e+01] [ 4.28484711e-03 -7.85796805e-05 9.99990817e-01 5.32914616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27862385300003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:150.34, Y:69.50, Z:0.53 [[ 5.56740349e-01 -8.30682954e-01 -2.45219749e-03 1.50344425e+02] [ 8.30675523e-01 5.56745744e-01 -3.51465736e-03 6.94983611e+01] [ 4.28481648e-03 -8.02288588e-05 9.99990817e-01 5.32276527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:150.36, Y:69.52, Z:0.53 [[ 5.56547638e-01 -8.30812083e-01 -2.45133821e-03 1.50359539e+02] [ 8.30804650e-01 5.56553031e-01 -3.51525657e-03 6.95205245e+01] [ 4.28481735e-03 -8.01754443e-05 9.99990817e-01 5.32391433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.338623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:150.38, Y:69.54, Z:0.53 [[ 5.56448851e-01 -8.30878253e-01 -2.45052263e-03 1.50375390e+02] [ 8.30870818e-01 5.56454241e-01 -3.51582503e-03 6.95412724e+01] [ 4.28482627e-03 -7.96909418e-05 9.99990817e-01 5.31295416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:150.39, Y:69.56, Z:0.53 [[ 5.56388466e-01 -8.30918693e-01 -2.44970255e-03 1.50391568e+02] [ 8.30911256e-01 5.56393853e-01 -3.51639634e-03 6.95615736e+01] [ 4.28483889e-03 -7.90030604e-05 9.99990817e-01 5.30825384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.398623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.41, Y:69.58, Z:0.53 [[ 5.56506491e-01 -8.30839653e-01 -2.44886973e-03 1.50408414e+02] [ 8.30832213e-01 5.56511873e-01 -3.51697624e-03 6.95805763e+01] [ 4.28486839e-03 -7.73797530e-05 9.99990817e-01 5.30857709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:150.42, Y:69.60, Z:0.53 [[ 5.56607082e-01 -8.30772269e-01 -2.44800123e-03 1.50424360e+02] [ 8.30764826e-01 5.56612460e-01 -3.51758065e-03 6.96008951e+01] [ 4.28489645e-03 -7.58030086e-05 9.99990817e-01 5.30788214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.458623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.44, Y:69.62, Z:0.53 [[ 5.56640248e-01 -8.30750049e-01 -2.44735095e-03 1.50441108e+02] [ 8.30742604e-01 5.56645623e-01 -3.51803302e-03 6.96218690e+01] [ 4.28491330e-03 -7.48399249e-05 9.99990817e-01 5.31674061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.488623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.46, Y:69.64, Z:0.53 [[ 5.56977106e-01 -8.30524243e-01 -2.44651150e-03 1.50457925e+02] [ 8.30516792e-01 5.56982475e-01 -3.51861670e-03 6.96425818e+01] [ 4.28496050e-03 -7.20799415e-05 9.99990817e-01 5.31857237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.518623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.47, Y:69.66, Z:0.53 [[ 5.57441035e-01 -8.30212931e-01 -2.44567573e-03 1.50473995e+02] [ 8.30205475e-01 5.57446395e-01 -3.51919752e-03 6.96633811e+01] [ 4.28501641e-03 -6.86682735e-05 9.99990817e-01 5.32330355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.548623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.49, Y:69.68, Z:0.53 [[ 5.59167207e-01 -8.29051300e-01 -2.44483785e-03 1.50490689e+02] [ 8.29043830e-01 5.59172548e-01 -3.51977951e-03 6.96824988e+01] [ 4.28516399e-03 -5.87324581e-05 9.99990817e-01 5.33550527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.578623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.51, Y:69.70, Z:0.53 [[ 5.60070273e-01 -8.28441498e-01 -2.44417128e-03 1.50506771e+02] [ 8.28434020e-01 5.60075604e-01 -3.52024232e-03 6.97038231e+01] [ 4.28523553e-03 -5.32515598e-05 9.99990817e-01 5.34039116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.608623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:150.52, Y:69.72, Z:0.53 [[ 5.61071310e-01 -8.27763864e-01 -2.44334338e-03 1.50522201e+02] [ 8.27756378e-01 5.61076628e-01 -3.52081686e-03 6.97237446e+01] [ 4.28530784e-03 -4.70637372e-05 9.99990817e-01 5.33994353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.54, Y:69.74, Z:0.53 [[ 5.62965973e-01 -8.26476466e-01 -2.44247644e-03 1.50540018e+02] [ 8.26468964e-01 5.62971270e-01 -3.52141818e-03 6.97437387e+01] [ 4.28541331e-03 -3.61923602e-05 9.99990817e-01 5.34903071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.668623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.56, Y:69.76, Z:0.54 [[ 5.63614435e-01 -8.26034386e-01 -2.44165533e-03 1.50556217e+02] [ 8.26026878e-01 5.63619723e-01 -3.52198742e-03 6.97647669e+01] [ 4.28544782e-03 -3.18299790e-05 9.99990817e-01 5.36023963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:150.57, Y:69.79, Z:0.54 [[ 5.64060638e-01 -8.25729762e-01 -2.44079487e-03 1.50571470e+02] [ 8.25722249e-01 5.64065918e-01 -3.52258363e-03 6.97854963e+01] [ 4.28547134e-03 -2.84678653e-05 9.99990817e-01 5.35836326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72862385300002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:150.59, Y:69.81, Z:0.54 [[ 5.64831636e-01 -8.25202563e-01 -2.43994315e-03 1.50586542e+02] [ 8.25195042e-01 5.64836906e-01 -3.52317348e-03 6.98053793e+01] [ 4.28550173e-03 -2.34291496e-05 9.99990817e-01 5.41018275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75862385300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:150.60, Y:69.83, Z:0.53 [[ 5.64904527e-01 -8.25152668e-01 -2.43927473e-03 1.50603287e+02] [ 8.25145145e-01 5.64909793e-01 -3.52363620e-03 6.98263024e+01] [ 4.28550800e-03 -2.22376571e-05 9.99990817e-01 5.34305619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:150.62, Y:69.85, Z:0.53 [[ 5.65180137e-01 -8.24963918e-01 -2.43842761e-03 1.50618750e+02] [ 8.24956391e-01 5.65185397e-01 -3.52422233e-03 6.98468325e+01] [ 4.28551994e-03 -1.97759799e-05 9.99990817e-01 5.33881654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.63, Y:69.87, Z:0.53 [[ 5.65523867e-01 -8.24728328e-01 -2.43754302e-03 1.50633967e+02] [ 8.24720795e-01 5.65529120e-01 -3.52483406e-03 6.98677547e+01] [ 4.28553205e-03 -1.69146302e-05 9.99990817e-01 5.33825229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:150.65, Y:69.89, Z:0.53 [[ 5.65832450e-01 -8.24516647e-01 -2.43670086e-03 1.50649082e+02] [ 8.24509110e-01 5.65837697e-01 -3.52541614e-03 6.98880641e+01] [ 4.28554150e-03 -1.42872070e-05 9.99990817e-01 5.33421461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:150.67, Y:69.91, Z:0.54 [[ 5.66614721e-01 -8.23979262e-01 -2.43581982e-03 1.50665863e+02] [ 8.23971718e-01 5.66619957e-01 -3.52602477e-03 6.99095177e+01] [ 4.28555541e-03 -9.14909908e-06 9.99990817e-01 5.35194490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.68, Y:69.93, Z:0.54 [[ 5.66884099e-01 -8.23793961e-01 -2.43504116e-03 1.50680642e+02] [ 8.23786412e-01 5.66889328e-01 -3.52656243e-03 6.99299527e+01] [ 4.28555968e-03 -6.80165746e-06 9.99990817e-01 5.35338305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.70, Y:69.95, Z:0.54 [[ 5.67073321e-01 -8.23663720e-01 -2.43435340e-03 1.50696189e+02] [ 8.23656168e-01 5.67078546e-01 -3.52703711e-03 6.99509234e+01] [ 4.28556210e-03 -4.98154773e-06 9.99990817e-01 5.35786139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.71, Y:69.97, Z:0.54 [[ 5.67198420e-01 -8.23577580e-01 -2.43350439e-03 1.50712307e+02] [ 8.23570025e-01 5.67203640e-01 -3.52762280e-03 6.99715932e+01] [ 4.28556360e-03 -3.29920046e-06 9.99990817e-01 5.36139416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:150.73, Y:69.99, Z:0.54 [[ 5.67153889e-01 -8.23608250e-01 -2.43264497e-03 1.50727426e+02] [ 8.23600692e-01 5.67159106e-01 -3.52821536e-03 6.99927640e+01] [ 4.28556402e-03 -2.48702285e-06 9.99990817e-01 5.36516974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.74, Y:70.01, Z:0.54 [[ 5.67039409e-01 -8.23687074e-01 -2.43178905e-03 1.50742117e+02] [ 8.23679515e-01 5.67044623e-01 -3.52880519e-03 7.00135116e+01] [ 4.28556413e-03 -2.04321762e-06 9.99990817e-01 5.36057669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.058623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.76, Y:70.03, Z:0.54 [[ 5.66897055e-01 -8.23785057e-01 -2.43089532e-03 1.50756967e+02] [ 8.23777496e-01 5.66902267e-01 -3.52942075e-03 7.00341373e+01] [ 4.28556414e-03 -1.69863460e-06 9.99990817e-01 5.35215554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:70.06, Z:0.54 [[ 5.66201010e-01 -8.24263617e-01 -2.43022994e-03 1.50773210e+02] [ 8.24256059e-01 5.66206226e-01 -3.52987885e-03 7.00554235e+01] [ 4.28556203e-03 -4.51077765e-06 9.99990817e-01 5.35545334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.79, Y:70.08, Z:0.54 [[ 5.65631932e-01 -8.24654240e-01 -2.42938597e-03 1.50788384e+02] [ 8.24646683e-01 5.65637149e-01 -3.53045960e-03 7.00763563e+01] [ 4.28555943e-03 -6.44439019e-06 9.99990817e-01 5.35507140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.80, Y:70.10, Z:0.54 [[ 5.65127276e-01 -8.25000160e-01 -2.42854416e-03 1.50804294e+02] [ 8.24992603e-01 5.65132494e-01 -3.53103857e-03 7.00975627e+01] [ 4.28555661e-03 -8.04476204e-06 9.99990817e-01 5.35154030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.178623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.82, Y:70.12, Z:0.54 [[ 5.64640312e-01 -8.25333523e-01 -2.42770178e-03 1.50819899e+02] [ 8.25325967e-01 5.64645531e-01 -3.53161764e-03 7.01191196e+01] [ 4.28555339e-03 -9.55162503e-06 9.99990817e-01 5.35062115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.84, Y:70.14, Z:0.54 [[ 5.64199640e-01 -8.25634833e-01 -2.42686107e-03 1.50835880e+02] [ 8.25627277e-01 5.64204859e-01 -3.53219527e-03 7.01405728e+01] [ 4.28555026e-03 -1.08193994e-05 9.99990817e-01 5.36363698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.85, Y:70.16, Z:0.54 [[ 5.64190037e-01 -8.25641397e-01 -2.42602661e-03 1.50851180e+02] [ 8.25633839e-01 5.64195253e-01 -3.53276831e-03 7.01623318e+01] [ 4.28555246e-03 -9.85698424e-06 9.99990817e-01 5.37052423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.268623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.87, Y:70.18, Z:0.54 [[ 5.64416243e-01 -8.25486780e-01 -2.42517164e-03 1.50865563e+02] [ 8.25479218e-01 5.64421453e-01 -3.53335513e-03 7.01827977e+01] [ 4.28555685e-03 -7.64575987e-06 9.99990817e-01 5.36960357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.298623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:150.88, Y:70.21, Z:0.55 [[ 5.64576265e-01 -8.25377346e-01 -2.42427675e-03 1.50879778e+02] [ 8.25369781e-01 5.64581470e-01 -3.53396901e-03 7.02052453e+01] [ 4.28555970e-03 -5.72974672e-06 9.99990817e-01 5.45337795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.328623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.90, Y:70.23, Z:0.54 [[ 5.65350412e-01 -8.24847282e-01 -2.42346030e-03 1.50895500e+02] [ 8.24839709e-01 5.65355606e-01 -3.53452882e-03 7.02262228e+01] [ 4.28556336e-03 -7.18964073e-07 9.99990817e-01 5.38050042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.358623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.91, Y:70.25, Z:0.54 [[ 5.65433247e-01 -8.24790503e-01 -2.42264816e-03 1.50909929e+02] [ 8.24782927e-01 5.65438437e-01 -3.53508539e-03 7.02479658e+01] [ 4.28556325e-03 6.95967495e-07 9.99990817e-01 5.37556097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.92, Y:70.27, Z:0.54 [[ 5.65243000e-01 -8.24920897e-01 -2.42183259e-03 1.50924766e+02] [ 8.24913320e-01 5.65248188e-01 -3.53564404e-03 7.02700521e+01] [ 4.28556313e-03 6.96082876e-07 9.99990817e-01 5.38765319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.418623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:150.94, Y:70.29, Z:0.54 [[ 5.65305932e-01 -8.24877774e-01 -2.42096732e-03 1.50938408e+02] [ 8.24870194e-01 5.65311116e-01 -3.53623642e-03 7.02916651e+01] [ 4.28556256e-03 2.07163820e-06 9.99990817e-01 5.44632222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.95, Y:70.31, Z:0.54 [[ 5.64811752e-01 -8.25216231e-01 -2.42028088e-03 1.50953668e+02] [ 8.25208652e-01 5.64816937e-01 -3.53670617e-03 7.03128190e+01] [ 4.28556297e-03 3.36489645e-07 9.99990817e-01 5.36792530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.97, Y:70.33, Z:0.54 [[ 5.64331820e-01 -8.25544513e-01 -2.41947376e-03 1.50968279e+02] [ 8.25536935e-01 5.64337006e-01 -3.53725824e-03 7.03338199e+01] [ 4.28556271e-03 -1.17757583e-06 9.99990817e-01 5.35786180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.98, Y:70.36, Z:0.54 [[ 5.63760373e-01 -8.25934859e-01 -2.41883175e-03 1.50983470e+02] [ 8.25927282e-01 5.63765562e-01 -3.53769720e-03 7.03555814e+01] [ 4.28556148e-03 -3.36563772e-06 9.99990817e-01 5.35309707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.00, Y:70.38, Z:0.54 [[ 5.63145293e-01 -8.26354362e-01 -2.41803605e-03 1.50999764e+02] [ 8.26346787e-01 5.63150484e-01 -3.53824098e-03 7.03768412e+01] [ 4.28555904e-03 -5.59257312e-06 9.99990817e-01 5.35313481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.01, Y:70.40, Z:0.53 [[ 5.63060855e-01 -8.26411901e-01 -2.41721876e-03 1.51013810e+02] [ 8.26404325e-01 5.63066044e-01 -3.53879924e-03 7.03974427e+01] [ 4.28555961e-03 -5.04071210e-06 9.99990817e-01 5.34830057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.03, Y:70.42, Z:0.54 [[ 5.63209564e-01 -8.26310564e-01 -2.41636407e-03 1.51027217e+02] [ 8.26302984e-01 5.63214747e-01 -3.53938274e-03 7.04189222e+01] [ 4.28556123e-03 -3.23463041e-06 9.99990817e-01 5.41127295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:70.44, Z:0.54 [[ 5.63501111e-01 -8.26111774e-01 -2.41551118e-03 1.51041584e+02] [ 8.26104190e-01 5.63506288e-01 -3.53996472e-03 7.04400462e+01] [ 4.28556227e-03 -6.89852990e-07 9.99990817e-01 5.36831808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:70.46, Z:0.54 [[ 5.64362036e-01 -8.25523871e-01 -2.41465870e-03 1.51055622e+02] [ 8.25516279e-01 5.64367201e-01 -3.54054611e-03 7.04618709e+01] [ 4.28555950e-03 4.80974309e-06 9.99990817e-01 5.37596335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:70.48, Z:0.54 [[ 5.64881068e-01 -8.25168803e-01 -2.41381120e-03 1.51069176e+02] [ 8.25161205e-01 5.64886225e-01 -3.54112381e-03 7.04820159e+01] [ 4.28555359e-03 8.53043966e-06 9.99990817e-01 5.37973102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:70.50, Z:0.54 [[ 5.65023584e-01 -8.25071225e-01 -2.41292797e-03 1.51083632e+02] [ 8.25063624e-01 5.65028736e-01 -3.54172554e-03 7.05034320e+01] [ 4.28554947e-03 1.03393669e-05 9.99990817e-01 5.39421053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:70.52, Z:0.54 [[ 5.65174884e-01 -8.24967595e-01 -2.41210885e-03 1.51097896e+02] [ 8.24959990e-01 5.65180031e-01 -3.54228332e-03 7.05243945e+01] [ 4.28554470e-03 1.21162739e-05 9.99990817e-01 5.39818655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:70.55, Z:0.54 [[ 5.65242225e-01 -8.24921459e-01 -2.41125316e-03 1.51112073e+02] [ 8.24913851e-01 5.65247368e-01 -3.54286570e-03 7.05471506e+01] [ 4.28554044e-03 1.35011650e-05 9.99990817e-01 5.39913719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:70.57, Z:0.54 [[ 5.65111109e-01 -8.25011287e-01 -2.41044195e-03 1.51126141e+02] [ 8.25003678e-01 5.65116250e-01 -3.54341753e-03 7.05695517e+01] [ 4.28553937e-03 1.38011334e-05 9.99990817e-01 5.38916809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:70.59, Z:0.54 [[ 5.65320365e-01 -8.24867916e-01 -2.40962905e-03 1.51139728e+02] [ 8.24860303e-01 5.65325501e-01 -3.54397024e-03 7.05910708e+01] [ 4.28553209e-03 1.58711978e-05 9.99990817e-01 5.37464535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:70.61, Z:0.54 [[ 5.65143573e-01 -8.24989055e-01 -2.40877654e-03 1.51153951e+02] [ 8.24981440e-01 5.65148706e-01 -3.54454958e-03 7.06130016e+01] [ 4.28553155e-03 1.59834709e-05 9.99990817e-01 5.37287630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.17, Y:70.63, Z:0.54 [[ 5.65139498e-01 -8.24991848e-01 -2.40797129e-03 1.51167204e+02] [ 8.24984231e-01 5.65144628e-01 -3.54509654e-03 7.06342936e+01] [ 4.28552778e-03 1.69357297e-05 9.99990817e-01 5.36031992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.18, Y:70.66, Z:0.54 [[ 5.64978425e-01 -8.25102167e-01 -2.40712914e-03 1.51180618e+02] [ 8.25094548e-01 5.64983552e-01 -3.54566827e-03 7.06565635e+01] [ 4.28552694e-03 1.71169399e-05 9.99990817e-01 5.37365507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:70.68, Z:0.54 [[ 5.64809378e-01 -8.25217896e-01 -2.40648599e-03 1.51194147e+02] [ 8.25210277e-01 5.64814505e-01 -3.54610473e-03 7.06787241e+01] [ 4.28552727e-03 1.70162334e-05 9.99990817e-01 5.37039439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.21, Y:70.70, Z:0.54 [[ 5.64747573e-01 -8.25260196e-01 -2.40568841e-03 1.51207002e+02] [ 8.25252576e-01 5.64752696e-01 -3.54664573e-03 7.07006761e+01] [ 4.28552456e-03 1.76590106e-05 9.99990817e-01 5.37002404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.22, Y:70.72, Z:0.54 [[ 5.64655020e-01 -8.25323528e-01 -2.40485682e-03 1.51220864e+02] [ 8.25315905e-01 5.64660141e-01 -3.54720951e-03 7.07220349e+01] [ 4.28552225e-03 1.81830683e-05 9.99990817e-01 5.37361386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.048623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.23, Y:70.74, Z:0.54 [[ 5.64426073e-01 -8.25480120e-01 -2.40422985e-03 1.51233954e+02] [ 8.25472496e-01 5.64431193e-01 -3.54763441e-03 7.07448823e+01] [ 4.28552400e-03 1.77517402e-05 9.99990817e-01 5.43196282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:70.77, Z:0.54 [[ 5.64175577e-01 -8.25651344e-01 -2.40344738e-03 1.51247573e+02] [ 8.25643720e-01 5.64180696e-01 -3.54816443e-03 7.07669989e+01] [ 4.28552535e-03 1.73964747e-05 9.99990817e-01 5.38622552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:70.79, Z:0.54 [[ 5.64000005e-01 -8.25771289e-01 -2.40261547e-03 1.51260544e+02] [ 8.25763664e-01 5.64005122e-01 -3.54872766e-03 7.07889996e+01] [ 4.28552485e-03 1.74898615e-05 9.99990817e-01 5.37452020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.27, Y:70.81, Z:0.54 [[ 5.63108936e-01 -8.26379185e-01 -2.40174556e-03 1.51272717e+02] [ 8.26371563e-01 5.63114058e-01 -3.54931632e-03 7.08104391e+01] [ 4.28553781e-03 1.39175066e-05 9.99990817e-01 5.36152695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:70.83, Z:0.54 [[ 5.62557681e-01 -8.26754553e-01 -2.40102021e-03 1.51286615e+02] [ 8.26746932e-01 5.62562804e-01 -3.54980693e-03 7.08328110e+01] [ 4.28554370e-03 1.19350615e-05 9.99990817e-01 5.38444338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:70.86, Z:0.54 [[ 5.61829674e-01 -8.27249452e-01 -2.40018279e-03 1.51300314e+02] [ 8.27241834e-01 5.61834801e-01 -3.55037306e-03 7.08552167e+01] [ 4.28555039e-03 9.17332474e-06 9.99990817e-01 5.38573882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.32, Y:70.88, Z:0.54 [[ 5.61632697e-01 -8.27383198e-01 -2.39933903e-03 1.51315105e+02] [ 8.27375578e-01 5.61637822e-01 -3.55094318e-03 7.08776078e+01] [ 4.28555027e-03 9.17127933e-06 9.99990817e-01 5.38688791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.33, Y:70.90, Z:0.54 [[ 5.60884169e-01 -8.27890812e-01 -2.39849343e-03 1.51328892e+02] [ 8.27883194e-01 5.60889297e-01 -3.55151424e-03 7.08995219e+01] [ 4.28555531e-03 6.31571027e-06 9.99990817e-01 5.38608215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:70.92, Z:0.54 [[ 5.59922049e-01 -8.28541822e-01 -2.39764212e-03 1.51341617e+02] [ 8.28534207e-01 5.59927183e-01 -3.55208887e-03 7.09215318e+01] [ 4.28555919e-03 2.36436561e-06 9.99990817e-01 5.37941904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:151.35, Y:70.94, Z:0.55 [[ 5.59259626e-01 -8.28989099e-01 -2.39675234e-03 1.51354145e+02] [ 8.28981487e-01 5.59264761e-01 -3.55268915e-03 7.09443042e+01] [ 4.28555970e-03 1.22907538e-08 9.99990817e-01 5.47344493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:70.97, Z:0.54 [[ 5.59025516e-01 -8.29146991e-01 -2.39591364e-03 1.51368715e+02] [ 8.29139377e-01 5.59030650e-01 -3.55325467e-03 7.09668607e+01] [ 4.28555958e-03 -1.86316721e-07 9.99990817e-01 5.40994924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:70.99, Z:0.54 [[ 5.59322031e-01 -8.28947001e-01 -2.39507345e-03 1.51381448e+02] [ 8.28939383e-01 5.59327158e-01 -3.55382091e-03 7.09889595e+01] [ 4.28555881e-03 2.35962134e-06 9.99990817e-01 5.39365311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.40, Y:71.01, Z:0.54 [[ 5.59493083e-01 -8.28831562e-01 -2.39419586e-03 1.51395137e+02] [ 8.28823940e-01 5.59498206e-01 -3.55441205e-03 7.10116388e+01] [ 4.28555717e-03 4.30211125e-06 9.99990817e-01 5.39463420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:71.03, Z:0.54 [[ 5.59977012e-01 -8.28504688e-01 -2.39334680e-03 1.51408531e+02] [ 8.28497061e-01 5.59982126e-01 -3.55498366e-03 7.10343329e+01] [ 4.28555206e-03 7.82833931e-06 9.99990817e-01 5.39529789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.42, Y:71.06, Z:0.54 [[ 5.60527748e-01 -8.28132187e-01 -2.39249761e-03 1.51420634e+02] [ 8.28124555e-01 5.60532854e-01 -3.55555508e-03 7.10566467e+01] [ 4.28554311e-03 1.17012660e-05 9.99990817e-01 5.43845076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:71.08, Z:0.54 [[ 5.60907419e-01 -8.27875079e-01 -2.39182121e-03 1.51434063e+02] [ 8.27867442e-01 5.60912519e-01 -3.55601003e-03 7.10786776e+01] [ 4.28553454e-03 1.44815089e-05 9.99990817e-01 5.39193930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:71.10, Z:0.54 [[ 5.61729407e-01 -8.27317567e-01 -2.39100527e-03 1.51446190e+02] [ 8.27309922e-01 5.61734496e-01 -3.55655857e-03 7.11027387e+01] [ 4.28551352e-03 1.97211492e-05 9.99990817e-01 5.42411270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:71.13, Z:0.54 [[ 5.61874535e-01 -8.27219012e-01 -2.39017702e-03 1.51459345e+02] [ 8.27211365e-01 5.61879618e-01 -3.55711511e-03 7.11261676e+01] [ 4.28550500e-03 2.14707984e-05 9.99990817e-01 5.43369570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:71.15, Z:0.54 [[ 5.61741507e-01 -8.27309356e-01 -2.38934732e-03 1.51471901e+02] [ 8.27301707e-01 5.61746588e-01 -3.55767234e-03 7.11485300e+01] [ 4.28550331e-03 2.17811017e-05 9.99990817e-01 5.44337905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:71.17, Z:0.54 [[ 5.61037835e-01 -8.27786713e-01 -2.38868730e-03 1.51483030e+02] [ 8.27779066e-01 5.61042920e-01 -3.55811543e-03 7.11715370e+01] [ 4.28551677e-03 1.89320304e-05 9.99990817e-01 5.44834155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:71.19, Z:0.54 [[ 5.60485020e-01 -8.28161120e-01 -2.38782644e-03 1.51495767e+02] [ 8.28153474e-01 5.60490106e-01 -3.55869306e-03 7.11938561e+01] [ 4.28552432e-03 1.71073887e-05 9.99990817e-01 5.44396422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:71.22, Z:0.54 [[ 5.59862317e-01 -8.28582216e-01 -2.38697039e-03 1.51508702e+02] [ 8.28574571e-01 5.59867405e-01 -3.55926715e-03 7.12171305e+01] [ 4.28553238e-03 1.49165899e-05 9.99990817e-01 5.44345971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:71.24, Z:0.54 [[ 5.59188200e-01 -8.29037311e-01 -2.38615614e-03 1.51520677e+02] [ 8.29029668e-01 5.59193291e-01 -3.55981295e-03 7.12392132e+01] [ 4.28554026e-03 1.24111580e-05 9.99990817e-01 5.43185379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:71.26, Z:0.54 [[ 5.57372175e-01 -8.30259338e-01 -2.38530551e-03 1.51531609e+02] [ 8.30251704e-01 5.57377279e-01 -3.56038283e-03 7.12635820e+01] [ 4.28555619e-03 4.05436118e-06 9.99990817e-01 5.42904821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.54, Y:71.29, Z:0.54 [[ 5.56278772e-01 -8.30992324e-01 -2.38446607e-03 1.51544060e+02] [ 8.30984694e-01 5.56283882e-01 -3.56094494e-03 7.12856079e+01] [ 4.28555795e-03 -5.76730208e-07 9.99990817e-01 5.42485397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:71.31, Z:0.54 [[ 5.54811946e-01 -8.31972369e-01 -2.38359283e-03 1.51557095e+02] [ 8.31964746e-01 5.54817067e-01 -3.56152937e-03 7.13086995e+01] [ 4.28555200e-03 -7.08615924e-06 9.99990817e-01 5.42758568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:71.33, Z:0.54 [[ 5.51851836e-01 -8.33938771e-01 -2.38276855e-03 1.51569468e+02] [ 8.33931163e-01 5.51856980e-01 -3.56208074e-03 7.13323415e+01] [ 4.28550469e-03 -2.13241489e-05 9.99990817e-01 5.42321024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:71.35, Z:0.54 [[ 5.50214307e-01 -8.35020085e-01 -2.38194033e-03 1.51582926e+02] [ 8.35012485e-01 5.50219463e-01 -3.56263448e-03 7.13545951e+01] [ 4.28546128e-03 -2.87374544e-05 9.99990817e-01 5.42877230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:71.38, Z:0.54 [[ 5.48875043e-01 -8.35901022e-01 -2.38109564e-03 1.51596593e+02] [ 8.35893428e-01 5.48880206e-01 -3.56319894e-03 7.13776363e+01] [ 4.28541790e-03 -3.45912238e-05 9.99990817e-01 5.43056945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:71.40, Z:0.54 [[ 5.47933727e-01 -8.36518359e-01 -2.38025326e-03 1.51608671e+02] [ 8.36510769e-01 5.47938896e-01 -3.56376157e-03 7.13994587e+01] [ 4.28538533e-03 -3.84023231e-05 9.99990817e-01 5.41999102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:71.42, Z:0.54 [[ 5.46610032e-01 -8.37383909e-01 -2.37937208e-03 1.51619199e+02] [ 8.37376325e-01 5.46615209e-01 -3.56434980e-03 7.14238872e+01] [ 4.28533014e-03 -4.41204921e-05 9.99990817e-01 5.41262619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:71.45, Z:0.54 [[ 5.46000139e-01 -8.37781708e-01 -2.37856108e-03 1.51632040e+02] [ 8.37774125e-01 5.46005318e-01 -3.56489092e-03 7.14471558e+01] [ 4.28530740e-03 -4.62659868e-05 9.99990817e-01 5.42290284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:71.47, Z:0.54 [[ 5.45475901e-01 -8.38123134e-01 -2.37772628e-03 1.51644487e+02] [ 8.38115552e-01 5.45481081e-01 -3.56544763e-03 7.14687085e+01] [ 4.28528884e-03 -4.79436123e-05 9.99990817e-01 5.41686408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:71.49, Z:0.54 [[ 5.44548294e-01 -8.38726121e-01 -2.37685349e-03 1.51658222e+02] [ 8.38718541e-01 5.44553479e-01 -3.56602937e-03 7.14919462e+01] [ 4.28524582e-03 -5.16358797e-05 9.99990817e-01 5.42451704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.67, Y:71.51, Z:0.54 [[ 5.43082525e-01 -8.39675964e-01 -2.37606967e-03 1.51671229e+02] [ 8.39668392e-01 5.43087720e-01 -3.56655156e-03 7.15138619e+01] [ 4.28516188e-03 -5.81787731e-05 9.99990817e-01 5.40906547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:71.54, Z:0.54 [[ 5.41841286e-01 -8.40477471e-01 -2.37516167e-03 1.51685278e+02] [ 8.40469904e-01 5.41846488e-01 -3.56715614e-03 7.15367159e+01] [ 4.28508738e-03 -6.34194260e-05 9.99990817e-01 5.42255077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.70, Y:71.56, Z:0.54 [[ 5.40616217e-01 -8.41265992e-01 -2.37430941e-03 1.51698609e+02] [ 8.41258429e-01 5.40621426e-01 -3.56772332e-03 7.15582820e+01] [ 4.28500683e-03 -6.86387186e-05 9.99990817e-01 5.40850232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:71.58, Z:0.54 [[ 5.39356978e-01 -8.42073879e-01 -2.37341780e-03 1.51712372e+02] [ 8.42066322e-01 5.39362195e-01 -3.56831636e-03 7.15813072e+01] [ 4.28491783e-03 -7.39788642e-05 9.99990817e-01 5.43107850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:71.60, Z:0.54 [[ 5.37820768e-01 -8.43055866e-01 -2.37255631e-03 1.51724852e+02] [ 8.43048316e-01 5.37825995e-01 -3.56888906e-03 7.16032779e+01] [ 4.28479532e-03 -8.07569478e-05 9.99990817e-01 5.44160124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:71.63, Z:0.54 [[ 5.37089231e-01 -8.43522099e-01 -2.37187115e-03 1.51739127e+02] [ 8.43514551e-01 5.37094462e-01 -3.56934436e-03 7.16258207e+01] [ 4.28473971e-03 -8.36514126e-05 9.99990817e-01 5.44703821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.75, Y:71.65, Z:0.54 [[ 5.36449050e-01 -8.43929378e-01 -2.37109529e-03 1.51752852e+02] [ 8.43921832e-01 5.36454284e-01 -3.56985969e-03 7.16469516e+01] [ 4.28469369e-03 -8.59712444e-05 9.99990817e-01 5.43501797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:71.67, Z:0.54 [[ 5.35916079e-01 -8.44267930e-01 -2.37040743e-03 1.51767351e+02] [ 8.44260385e-01 5.35921314e-01 -3.57031638e-03 7.16691596e+01] [ 4.28465548e-03 -8.78511355e-05 9.99990817e-01 5.43365502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:71.69, Z:0.54 [[ 5.35358135e-01 -8.44621840e-01 -2.36961930e-03 1.51781562e+02] [ 8.44614296e-01 5.35363372e-01 -3.57083938e-03 7.16916293e+01] [ 4.28461630e-03 -8.97364208e-05 9.99990817e-01 5.43363898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:71.71, Z:0.54 [[ 5.35059184e-01 -8.44811256e-01 -2.36881987e-03 1.51795538e+02] [ 8.44803712e-01 5.35064420e-01 -3.57136962e-03 7.17140421e+01] [ 4.28460449e-03 -9.02937026e-05 9.99990817e-01 5.43300212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:71.74, Z:0.54 [[ 5.35209593e-01 -8.44715979e-01 -2.36798759e-03 1.51810240e+02] [ 8.44708431e-01 5.35214824e-01 -3.57192138e-03 7.17369236e+01] [ 4.28464113e-03 -8.85324896e-05 9.99990817e-01 5.43757993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:71.76, Z:0.54 [[ 5.35207815e-01 -8.44717107e-01 -2.36720160e-03 1.51824285e+02] [ 8.44709557e-01 5.35213043e-01 -3.57244220e-03 7.17589091e+01] [ 4.28466021e-03 -8.75988265e-05 9.99990817e-01 5.42367856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.84, Y:71.78, Z:0.54 [[ 5.35838075e-01 -8.44317451e-01 -2.36637704e-03 1.51838111e+02] [ 8.44309895e-01 5.35843294e-01 -3.57298831e-03 7.17799973e+01] [ 4.28474364e-03 -8.34123698e-05 9.99990817e-01 5.41395611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:71.80, Z:0.54 [[ 5.35816923e-01 -8.44330876e-01 -2.36571123e-03 1.51851602e+02] [ 8.44323318e-01 5.35822139e-01 -3.57342909e-03 7.18015200e+01] [ 4.28475696e-03 -8.27213787e-05 9.99990817e-01 5.41099173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:71.82, Z:0.54 [[ 5.35867903e-01 -8.44298525e-01 -2.36483976e-03 1.51865262e+02] [ 8.44290964e-01 5.35873115e-01 -3.57400572e-03 7.18235360e+01] [ 4.28478180e-03 -8.14178882e-05 9.99990817e-01 5.41600954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:71.85, Z:0.54 [[ 5.35952537e-01 -8.44244804e-01 -2.36402372e-03 1.51879341e+02] [ 8.44237241e-01 5.35957745e-01 -3.57454541e-03 7.18455715e+01] [ 4.28480821e-03 -8.00101812e-05 9.99990817e-01 5.42215070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.89, Y:71.87, Z:0.54 [[ 5.35662039e-01 -8.44429154e-01 -2.36317405e-03 1.51894584e+02] [ 8.44421589e-01 5.35667246e-01 -3.57510704e-03 7.18681053e+01] [ 4.28479955e-03 -8.04660626e-05 9.99990817e-01 5.42603658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:71.89, Z:0.54 [[ 5.35333746e-01 -8.44637318e-01 -2.36239378e-03 1.51908970e+02] [ 8.44629754e-01 5.35338953e-01 -3.57562257e-03 7.18890767e+01] [ 4.28478567e-03 -8.11966500e-05 9.99990817e-01 5.42476410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:71.91, Z:0.54 [[ 5.35054830e-01 -8.44814034e-01 -2.36148569e-03 1.51922999e+02] [ 8.44806469e-01 5.35060035e-01 -3.57622221e-03 7.19102679e+01] [ 4.28477932e-03 -8.15234182e-05 9.99990817e-01 5.42147569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:71.93, Z:0.54 [[ 5.34743668e-01 -8.45011027e-01 -2.36081209e-03 1.51937172e+02] [ 8.45003462e-01 5.34748873e-01 -3.57666682e-03 7.19310046e+01] [ 4.28476451e-03 -8.22944485e-05 9.99990817e-01 5.41689323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:71.95, Z:0.54 [[ 5.35037807e-01 -8.44824820e-01 -2.35994368e-03 1.51952389e+02] [ 8.44817250e-01 5.35043005e-01 -3.57723972e-03 7.19523385e+01] [ 4.28481226e-03 -7.97626339e-05 9.99990817e-01 5.42418797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:71.97, Z:0.54 [[ 5.35150337e-01 -8.44753545e-01 -2.35915607e-03 1.51967328e+02] [ 8.44745972e-01 5.35155531e-01 -3.57775907e-03 7.19744421e+01] [ 4.28484007e-03 -7.82486140e-05 9.99990817e-01 5.43292505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:72.00, Z:0.54 [[ 5.35678739e-01 -8.44418573e-01 -2.35832642e-03 1.51981698e+02] [ 8.44410995e-01 5.35683925e-01 -3.57830586e-03 7.19953204e+01] [ 4.28490548e-03 -7.45743858e-05 9.99990817e-01 5.43025482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:72.02, Z:0.54 [[ 5.36162679e-01 -8.44111381e-01 -2.35746490e-03 1.51995993e+02] [ 8.44103798e-01 5.36167857e-01 -3.57887336e-03 7.20172228e+01] [ 4.28496464e-03 -7.10867431e-05 9.99990817e-01 5.43628513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:72.04, Z:0.54 [[ 5.37225290e-01 -8.43435495e-01 -2.35667287e-03 1.52011533e+02] [ 8.43427902e-01 5.37230455e-01 -3.57939483e-03 7.20388097e+01] [ 4.28506509e-03 -6.47422358e-05 9.99990817e-01 5.43281519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:72.06, Z:0.54 [[ 5.37609964e-01 -8.43190356e-01 -2.35588288e-03 1.52026467e+02] [ 8.43182759e-01 5.37615122e-01 -3.57991471e-03 7.20602924e+01] [ 4.28510782e-03 -6.18420087e-05 9.99990817e-01 5.44191786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:72.08, Z:0.54 [[ 5.37889519e-01 -8.43012051e-01 -2.35506074e-03 1.52041463e+02] [ 8.43004450e-01 5.37894672e-01 -3.58045547e-03 7.20823103e+01] [ 4.28514174e-03 -5.94372107e-05 9.99990817e-01 5.44596330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:72.10, Z:0.54 [[ 5.38088404e-01 -8.42885121e-01 -2.35423355e-03 1.52056013e+02] [ 8.42877516e-01 5.38093551e-01 -3.58099929e-03 7.21036539e+01] [ 4.28516891e-03 -5.74363328e-05 9.99990817e-01 5.44250001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:72.13, Z:0.54 [[ 5.38379528e-01 -8.42699202e-01 -2.35340226e-03 1.52071778e+02] [ 8.42691593e-01 5.38384669e-01 -3.58154552e-03 7.21252362e+01] [ 4.28520125e-03 -5.49615119e-05 9.99990817e-01 5.43209399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:152.09, Y:72.15, Z:0.55 [[ 5.38264839e-01 -8.42772465e-01 -2.35256998e-03 1.52086060e+02] [ 8.42764855e-01 5.38269977e-01 -3.58209213e-03 7.21471393e+01] [ 4.28520640e-03 -5.45490564e-05 9.99990817e-01 5.51528964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:72.17, Z:0.54 [[ 5.37736128e-01 -8.43109914e-01 -2.35173206e-03 1.52101181e+02] [ 8.43102304e-01 5.37741267e-01 -3.58264216e-03 7.21682877e+01] [ 4.28518450e-03 -5.62345967e-05 9.99990817e-01 5.44272774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:72.19, Z:0.54 [[ 5.37436899e-01 -8.43300690e-01 -2.35086375e-03 1.52115603e+02] [ 8.43293079e-01 5.37442038e-01 -3.58321184e-03 7.21890452e+01] [ 4.28517802e-03 -5.67168728e-05 9.99990817e-01 5.42652139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:72.21, Z:0.54 [[ 5.36962370e-01 -8.43602922e-01 -2.34995488e-03 1.52132189e+02] [ 8.43595312e-01 5.36967509e-01 -3.58380780e-03 7.22091449e+01] [ 4.28516015e-03 -5.80409863e-05 9.99990817e-01 5.43925261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.058623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.15, Y:72.23, Z:0.54 [[ 5.36625908e-01 -8.43816992e-01 -2.34910224e-03 1.52147447e+02] [ 8.43809381e-01 5.36631047e-01 -3.58436660e-03 7.22297952e+01] [ 4.28515063e-03 -5.87305249e-05 9.99990817e-01 5.43547879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.16, Y:72.25, Z:0.54 [[ 5.36428717e-01 -8.43942367e-01 -2.34821053e-03 1.52161907e+02] [ 8.43934754e-01 5.36433853e-01 -3.58495069e-03 7.22523893e+01] [ 4.28515139e-03 -5.86659770e-05 9.99990817e-01 5.43662782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:72.27, Z:0.54 [[ 5.36154650e-01 -8.44116509e-01 -2.34737268e-03 1.52177057e+02] [ 8.44108896e-01 5.36159786e-01 -3.58549921e-03 7.22734133e+01] [ 4.28514591e-03 -5.90560918e-05 9.99990817e-01 5.43873863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:72.29, Z:0.55 [[ 5.36170886e-01 -8.44106199e-01 -2.34652976e-03 1.52193294e+02] [ 8.44098583e-01 5.36176018e-01 -3.58605077e-03 7.22937808e+01] [ 4.28516067e-03 -5.79664255e-05 9.99990817e-01 5.45861398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:72.31, Z:0.55 [[ 5.36285228e-01 -8.44033561e-01 -2.34565120e-03 1.52208092e+02] [ 8.44025942e-01 5.36290355e-01 -3.58662535e-03 7.23138207e+01] [ 4.28518228e-03 -5.63362729e-05 9.99990817e-01 5.45895832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:72.34, Z:0.55 [[ 5.36393841e-01 -8.43964543e-01 -2.34473809e-03 1.52223554e+02] [ 8.43956921e-01 5.36398963e-01 -3.58722219e-03 7.23352358e+01] [ 4.28520342e-03 -5.46940537e-05 9.99990817e-01 5.46290203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:72.36, Z:0.55 [[ 5.36608793e-01 -8.43827891e-01 -2.34389477e-03 1.52239246e+02] [ 8.43820265e-01 5.36613909e-01 -3.58777314e-03 7.23567963e+01] [ 4.28522957e-03 -5.25952888e-05 9.99990817e-01 5.46953776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:72.38, Z:0.55 [[ 5.37007897e-01 -8.43573962e-01 -2.34304871e-03 1.52254701e+02] [ 8.43566331e-01 5.37013006e-01 -3.58832558e-03 7.23784051e+01] [ 4.28526566e-03 -4.95578314e-05 9.99990817e-01 5.47866459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:72.40, Z:0.55 [[ 5.37376472e-01 -8.43339221e-01 -2.34218000e-03 1.52269180e+02] [ 8.43331586e-01 5.37381575e-01 -3.58889252e-03 7.23986940e+01] [ 4.28529820e-03 -4.66479686e-05 9.99990817e-01 5.47662140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:72.42, Z:0.55 [[ 5.37796293e-01 -8.43071566e-01 -2.34127136e-03 1.52284019e+02] [ 8.43063926e-01 5.37801388e-01 -3.58948519e-03 7.24200460e+01] [ 4.28533189e-03 -4.34295945e-05 9.99990817e-01 5.47640607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:72.44, Z:0.55 [[ 5.39583133e-01 -8.41929074e-01 -2.34042430e-03 1.52299455e+02] [ 8.41921420e-01 5.39588208e-01 -3.59003741e-03 7.24417493e+01] [ 4.28542222e-03 -3.33297177e-05 9.99990817e-01 5.48237807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:72.46, Z:0.55 [[ 5.40603837e-01 -8.41274045e-01 -2.33954723e-03 1.52314193e+02] [ 8.41266382e-01 5.40608899e-01 -3.59060888e-03 7.24638420e+01] [ 4.28546611e-03 -2.70854945e-05 9.99990817e-01 5.48131873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:72.49, Z:0.55 [[ 5.41526140e-01 -8.40680659e-01 -2.33866158e-03 1.52328208e+02] [ 8.40672989e-01 5.41531189e-01 -3.59118564e-03 7.24852527e+01] [ 4.28549849e-03 -2.13287268e-05 9.99990817e-01 5.47861898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:72.51, Z:0.55 [[ 5.42404674e-01 -8.40114102e-01 -2.33773672e-03 1.52341446e+02] [ 8.40106424e-01 5.42409712e-01 -3.59178759e-03 7.25063251e+01] [ 4.28552250e-03 -1.57452621e-05 9.99990817e-01 5.47260761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:72.53, Z:0.55 [[ 5.44398222e-01 -8.38823649e-01 -2.33682603e-03 1.52354617e+02] [ 8.38815957e-01 5.44403238e-01 -3.59237999e-03 7.25279940e+01] [ 4.28554895e-03 -4.48168408e-06 9.99990817e-01 5.46359703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:72.55, Z:0.55 [[ 5.45025721e-01 -8.38416070e-01 -2.33592908e-03 1.52368705e+02] [ 8.38408371e-01 5.45030727e-01 -3.59296313e-03 7.25500240e+01] [ 4.28555115e-03 -2.05171106e-07 9.99990817e-01 5.46778216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:72.57, Z:0.55 [[ 5.45440206e-01 -8.38146484e-01 -2.33506800e-03 1.52382137e+02] [ 8.38138781e-01 5.45445204e-01 -3.59352266e-03 7.25713094e+01] [ 4.28555002e-03 2.94069104e-06 9.99990817e-01 5.46359678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:72.59, Z:0.55 [[ 5.45529214e-01 -8.38088557e-01 -2.33416814e-03 1.52394932e+02] [ 8.38080850e-01 5.45534207e-01 -3.59410707e-03 7.25932311e+01] [ 4.28554857e-03 4.46878634e-06 9.99990817e-01 5.47039618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:72.62, Z:0.55 [[ 5.45104290e-01 -8.38364997e-01 -2.33330373e-03 1.52408824e+02] [ 8.38357291e-01 5.45109284e-01 -3.59466815e-03 7.26159659e+01] [ 4.28554948e-03 3.32683567e-06 9.99990817e-01 5.48315473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:72.64, Z:0.55 [[ 5.44674715e-01 -8.38644153e-01 -2.33245818e-03 1.52422246e+02] [ 8.38636446e-01 5.44679709e-01 -3.59521672e-03 7.26381825e+01] [ 4.28555012e-03 2.13920249e-06 9.99990817e-01 5.49296933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:72.66, Z:0.55 [[ 5.44109440e-01 -8.39011014e-01 -2.33161600e-03 1.52435653e+02] [ 8.39003308e-01 5.44114436e-01 -3.59576282e-03 7.26605746e+01] [ 4.28555053e-03 2.54958070e-07 9.99990817e-01 5.49840814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:72.68, Z:0.55 [[ 5.42824295e-01 -8.39843052e-01 -2.33077772e-03 1.52449292e+02] [ 8.39835352e-01 5.42829299e-01 -3.59630611e-03 7.26826873e+01] [ 4.28554714e-03 -5.30719773e-06 9.99990817e-01 5.48898046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:72.70, Z:0.55 [[ 5.41792158e-01 -8.40509268e-01 -2.32993239e-03 1.52463161e+02] [ 8.40501572e-01 5.41797168e-01 -3.59685369e-03 7.27040482e+01] [ 4.28553963e-03 -9.56470760e-06 9.99990817e-01 5.48358419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:72.73, Z:0.55 [[ 5.40665718e-01 -8.41234306e-01 -2.32904814e-03 1.52477387e+02] [ 8.41226614e-01 5.40670734e-01 -3.59742617e-03 7.27265213e+01] [ 4.28552648e-03 -1.42522809e-05 9.99990817e-01 5.48488563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:72.75, Z:0.55 [[ 5.39001266e-01 -8.42301736e-01 -2.32819643e-03 1.52489925e+02] [ 8.42294052e-01 5.39006294e-01 -3.59797730e-03 7.27483635e+01] [ 4.28549506e-03 -2.17116793e-05 9.99990817e-01 5.48373251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:72.77, Z:0.55 [[ 5.38106087e-01 -8.42873907e-01 -2.32730651e-03 1.52503529e+02] [ 8.42866225e-01 5.38111119e-01 -3.59855285e-03 7.27711676e+01] [ 4.28547580e-03 -2.52048582e-05 9.99990817e-01 5.47925203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:72.79, Z:0.55 [[ 5.37338506e-01 -8.43363455e-01 -2.32646624e-03 1.52516925e+02] [ 8.43355776e-01 5.37343541e-01 -3.59909600e-03 7.27930641e+01] [ 4.28545764e-03 -2.81058735e-05 9.99990817e-01 5.47537042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:72.82, Z:0.55 [[ 5.36438372e-01 -8.43936292e-01 -2.32558945e-03 1.52530855e+02] [ 8.43928615e-01 5.36443412e-01 -3.59966245e-03 7.28156653e+01] [ 4.28543292e-03 -3.16344207e-05 9.99990817e-01 5.48052753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:72.84, Z:0.55 [[ 5.35733801e-01 -8.44383734e-01 -2.32474320e-03 1.52544593e+02] [ 8.44376059e-01 5.35738844e-01 -3.60020890e-03 7.28372206e+01] [ 4.28541307e-03 -3.42039049e-05 9.99990817e-01 5.47458955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:72.86, Z:0.55 [[ 5.34446485e-01 -8.45199121e-01 -2.32385751e-03 1.52558760e+02] [ 8.45191452e-01 5.34451536e-01 -3.60078050e-03 7.28592758e+01] [ 4.28536573e-03 -3.96800214e-05 9.99990817e-01 5.47847854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:72.88, Z:0.55 [[ 5.33842738e-01 -8.45580590e-01 -2.32302782e-03 1.52572430e+02] [ 8.45572922e-01 5.33847791e-01 -3.60131569e-03 7.28814929e+01] [ 4.28534592e-03 -4.17531947e-05 9.99990817e-01 5.48567355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:72.90, Z:0.55 [[ 5.33037489e-01 -8.46088437e-01 -2.32214947e-03 1.52585571e+02] [ 8.46080771e-01 5.33042545e-01 -3.60188197e-03 7.29034361e+01] [ 4.28531515e-03 -4.47878918e-05 9.99990817e-01 5.48064893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:72.93, Z:0.55 [[ 5.32655172e-01 -8.46329179e-01 -2.32127730e-03 1.52599053e+02] [ 8.46321513e-01 5.32660228e-01 -3.60244396e-03 7.29252529e+01] [ 4.28530554e-03 -4.56865136e-05 9.99990817e-01 5.48218765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:72.95, Z:0.55 [[ 5.32225150e-01 -8.46599673e-01 -2.32036912e-03 1.52612792e+02] [ 8.46592007e-01 5.32230206e-01 -3.60302883e-03 7.29460913e+01] [ 4.28529357e-03 -4.67833875e-05 9.99990817e-01 5.47280121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:72.97, Z:0.55 [[ 5.31621729e-01 -8.46978723e-01 -2.31947358e-03 1.52627041e+02] [ 8.46971059e-01 5.31626786e-01 -3.60360525e-03 7.29680393e+01] [ 4.28527126e-03 -4.87721365e-05 9.99990817e-01 5.48072616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:72.99, Z:0.55 [[ 5.31197194e-01 -8.47245044e-01 -2.31862334e-03 1.52641086e+02] [ 8.47237380e-01 5.31202252e-01 -3.60415222e-03 7.29886520e+01] [ 4.28525805e-03 -4.99088167e-05 9.99990817e-01 5.47989774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:73.01, Z:0.55 [[ 5.31074611e-01 -8.47321890e-01 -2.31773350e-03 1.52655102e+02] [ 8.47314224e-01 5.31079666e-01 -3.60472437e-03 7.30113694e+01] [ 4.28526300e-03 -4.94709691e-05 9.99990817e-01 5.48893097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:73.03, Z:0.55 [[ 5.30957103e-01 -8.47395532e-01 -2.31689344e-03 1.52668319e+02] [ 8.47387864e-01 5.30962156e-01 -3.60526422e-03 7.30328156e+01] [ 4.28526753e-03 -4.90667384e-05 9.99990817e-01 5.49106540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.68, Y:73.06, Z:0.55 [[ 5.30968712e-01 -8.47388260e-01 -2.31601466e-03 1.52682398e+02] [ 8.47380589e-01 5.30973761e-01 -3.60582866e-03 7.30552616e+01] [ 4.28527989e-03 -4.79636656e-05 9.99990817e-01 5.49578004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:73.08, Z:0.55 [[ 5.31089259e-01 -8.47312716e-01 -2.31516572e-03 1.52696619e+02] [ 8.47305043e-01 5.31094303e-01 -3.60637365e-03 7.30766679e+01] [ 4.28529758e-03 -4.63452809e-05 9.99990817e-01 5.50431098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:73.10, Z:0.55 [[ 5.30796445e-01 -8.47496182e-01 -2.31427959e-03 1.52710102e+02] [ 8.47488507e-01 5.30801488e-01 -3.60694221e-03 7.30979808e+01] [ 4.28529280e-03 -4.67732570e-05 9.99990817e-01 5.50363423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:73.12, Z:0.55 [[ 5.30639757e-01 -8.47594299e-01 -2.31340151e-03 1.52724624e+02] [ 8.47586624e-01 5.30644798e-01 -3.60750530e-03 7.31204189e+01] [ 4.28529541e-03 -4.65224382e-05 9.99990817e-01 5.51204414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:73.14, Z:0.55 [[ 5.30424589e-01 -8.47728971e-01 -2.31256258e-03 1.52739501e+02] [ 8.47721294e-01 5.30429628e-01 -3.60804301e-03 7.31415270e+01] [ 4.28529430e-03 -4.66138154e-05 9.99990817e-01 5.51109543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:73.16, Z:0.55 [[ 5.30280027e-01 -8.47819408e-01 -2.31168156e-03 1.52753515e+02] [ 8.47811730e-01 5.30285063e-01 -3.60860739e-03 7.31632275e+01] [ 4.28529759e-03 -4.62983157e-05 9.99990817e-01 5.51057562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:73.19, Z:0.55 [[ 5.30129242e-01 -8.47913703e-01 -2.31081018e-03 1.52767354e+02] [ 8.47906022e-01 5.30134276e-01 -3.60916530e-03 7.31852346e+01] [ 4.28530040e-03 -4.60258017e-05 9.99990817e-01 5.51072042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.78, Y:73.21, Z:0.55 [[ 5.29900372e-01 -8.48056755e-01 -2.30998178e-03 1.52781041e+02] [ 8.48049074e-01 5.29905405e-01 -3.60969543e-03 7.32069393e+01] [ 4.28529842e-03 -4.61989626e-05 9.99990817e-01 5.51138496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:73.23, Z:0.55 [[ 5.29623480e-01 -8.48229708e-01 -2.30911319e-03 1.52795268e+02] [ 8.48222026e-01 5.29628512e-01 -3.61025098e-03 7.32275155e+01] [ 4.28529432e-03 -4.65669840e-05 9.99990817e-01 5.50926999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:73.25, Z:0.55 [[ 5.29208509e-01 -8.48488672e-01 -2.30825350e-03 1.52809912e+02] [ 8.48480990e-01 5.29213541e-01 -3.61080055e-03 7.32490278e+01] [ 4.28528237e-03 -4.76428435e-05 9.99990817e-01 5.51107808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:73.27, Z:0.55 [[ 5.28904785e-01 -8.48678033e-01 -2.30743590e-03 1.52823948e+02] [ 8.48670351e-01 5.28909816e-01 -3.61132295e-03 7.32695399e+01] [ 4.28527596e-03 -4.82064498e-05 9.99990817e-01 5.50723801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:73.29, Z:0.55 [[ 5.28240292e-01 -8.49091794e-01 -2.30658507e-03 1.52837956e+02] [ 8.49084113e-01 5.28245325e-01 -3.61186630e-03 7.32898386e+01] [ 4.28524882e-03 -5.05514249e-05 9.99990817e-01 5.50626091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:73.31, Z:0.55 [[ 5.27748317e-01 -8.49397668e-01 -2.30566106e-03 1.52852307e+02] [ 8.49389988e-01 5.27753351e-01 -3.61245605e-03 7.33115030e+01] [ 4.28523210e-03 -5.19378203e-05 9.99990817e-01 5.51944641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:73.33, Z:0.55 [[ 5.27215989e-01 -8.49728185e-01 -2.30479070e-03 1.52866815e+02] [ 8.49720506e-01 5.27221024e-01 -3.61301127e-03 7.33326306e+01] [ 4.28521162e-03 -5.35906125e-05 9.99990817e-01 5.49483482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:73.35, Z:0.55 [[ 5.26552874e-01 -8.50139261e-01 -2.30387884e-03 1.52881533e+02] [ 8.50131583e-01 5.26557912e-01 -3.61359263e-03 7.33540467e+01] [ 4.28518260e-03 -5.58525748e-05 9.99990817e-01 5.49354592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:73.37, Z:0.55 [[ 5.25692311e-01 -8.50671670e-01 -2.30306483e-03 1.52898007e+02] [ 8.50663994e-01 5.25697353e-01 -3.61411135e-03 7.33747537e+01] [ 4.28513722e-03 -5.92237753e-05 9.99990817e-01 5.48700522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:73.40, Z:0.55 [[ 5.25156137e-01 -8.51002780e-01 -2.30220231e-03 1.52912566e+02] [ 8.50995106e-01 5.25161180e-01 -3.61466070e-03 7.33956755e+01] [ 4.28511358e-03 -6.09016433e-05 9.99990817e-01 5.46499568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:73.42, Z:0.55 [[ 5.24794776e-01 -8.51225673e-01 -2.30129750e-03 1.52927443e+02] [ 8.51217998e-01 5.24799819e-01 -3.61523666e-03 7.34174761e+01] [ 4.28510277e-03 -6.16485392e-05 9.99990817e-01 5.47281026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:73.44, Z:0.55 [[ 5.24818053e-01 -8.51211324e-01 -2.30045516e-03 1.52943486e+02] [ 8.51203647e-01 5.24823092e-01 -3.61577258e-03 7.34379925e+01] [ 4.28511856e-03 -6.05330905e-05 9.99990817e-01 5.49218793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:73.46, Z:0.55 [[ 5.24993425e-01 -8.51103175e-01 -2.29961237e-03 1.52958856e+02] [ 8.51095495e-01 5.24998459e-01 -3.61630851e-03 7.34598417e+01] [ 4.28514461e-03 -5.86515386e-05 9.99990817e-01 5.50443797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:73.48, Z:0.55 [[ 5.25421144e-01 -8.50839196e-01 -2.29875943e-03 1.52974125e+02] [ 8.50831510e-01 5.25426170e-01 -3.61685061e-03 7.34817759e+01] [ 4.28518663e-03 -5.54871743e-05 9.99990817e-01 5.51177317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:73.50, Z:0.55 [[ 5.26123931e-01 -8.50404803e-01 -2.29790653e-03 1.52988410e+02] [ 8.50397110e-01 5.26128947e-01 -3.61739241e-03 7.35029005e+01] [ 4.28524302e-03 -5.09363545e-05 9.99990817e-01 5.51796092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:73.52, Z:0.55 [[ 5.28447888e-01 -8.48962634e-01 -2.29701404e-03 1.53004515e+02] [ 8.48954925e-01 5.28452879e-01 -3.61795904e-03 7.35239959e+01] [ 4.28537572e-03 -3.81585731e-05 9.99990817e-01 5.52605971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.02, Y:73.55, Z:0.55 [[ 5.29908642e-01 -8.48051625e-01 -2.29617582e-03 1.53019795e+02] [ 8.48043906e-01 5.29913616e-01 -3.61849095e-03 7.35460476e+01] [ 4.28544196e-03 -2.97882866e-05 9.99990817e-01 5.53294346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:73.57, Z:0.55 [[ 5.31317519e-01 -8.47169656e-01 -2.29532005e-03 1.53034291e+02] [ 8.47161926e-01 5.31322477e-01 -3.61903371e-03 7.35682728e+01] [ 4.28549068e-03 -2.16517466e-05 9.99990817e-01 5.53905415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:73.59, Z:0.55 [[ 5.33018748e-01 -8.46100319e-01 -2.29445540e-03 1.53047993e+02] [ 8.46092577e-01 5.33023686e-01 -3.61958181e-03 7.35897269e+01] [ 4.28552840e-03 -1.20167227e-05 9.99990817e-01 5.53292298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:73.61, Z:0.55 [[ 5.37076436e-01 -8.43530463e-01 -2.29355348e-03 1.53061471e+02] [ 8.43522695e-01 5.37081333e-01 -3.62015323e-03 7.36114880e+01] [ 4.28553429e-03 9.63458153e-06 9.99990817e-01 5.52205315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:73.63, Z:0.55 [[ 5.38769748e-01 -8.42449940e-01 -2.29287344e-03 1.53075503e+02] [ 8.42442160e-01 5.38774627e-01 -3.62058389e-03 7.36342363e+01] [ 4.28550271e-03 1.90478139e-05 9.99990817e-01 5.52018834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:73.66, Z:0.55 [[ 5.38573125e-01 -8.42575656e-01 -2.29202759e-03 1.53089613e+02] [ 8.42567875e-01 5.38578002e-01 -3.62111928e-03 7.36570616e+01] [ 4.28550259e-03 1.90487059e-05 9.99990817e-01 5.52133740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.10, Y:73.68, Z:0.55 [[ 5.40318942e-01 -8.41457183e-01 -2.29118237e-03 1.53103342e+02] [ 8.41449390e-01 5.40323799e-01 -3.62165399e-03 7.36793668e+01] [ 4.28544713e-03 2.89342454e-05 9.99990817e-01 5.52590420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:73.70, Z:0.55 [[ 5.41663006e-01 -8.40592614e-01 -2.29033520e-03 1.53116197e+02] [ 8.40584811e-01 5.41667847e-01 -3.62218966e-03 7.37008446e+01] [ 4.28538681e-03 3.67851593e-05 9.99990817e-01 5.53087114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:73.72, Z:0.55 [[ 5.42997216e-01 -8.39731375e-01 -2.28945357e-03 1.53130016e+02] [ 8.39723561e-01 5.43002041e-01 -3.62274682e-03 7.37242263e+01] [ 4.28531213e-03 4.46333303e-05 9.99990817e-01 5.54534584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:73.75, Z:0.55 [[ 5.44851388e-01 -8.38529503e-01 -2.28865086e-03 1.53142040e+02] [ 8.38521676e-01 5.44856192e-01 -3.62325386e-03 7.37464001e+01] [ 4.28519085e-03 5.50515386e-05 9.99990817e-01 5.53807173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:73.77, Z:0.55 [[ 5.45293546e-01 -8.38242038e-01 -2.28793762e-03 1.53155169e+02] [ 8.38234207e-01 5.45298343e-01 -3.62370419e-03 7.37696371e+01] [ 4.28514977e-03 5.81549316e-05 9.99990817e-01 5.54142498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:73.79, Z:0.55 [[ 5.45532556e-01 -8.38086511e-01 -2.28706838e-03 1.53167884e+02] [ 8.38078676e-01 5.45537347e-01 -3.62425272e-03 7.37924662e+01] [ 4.28511853e-03 6.04046084e-05 9.99990817e-01 5.54203644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:73.82, Z:0.55 [[ 5.45836102e-01 -8.37888849e-01 -2.28620107e-03 1.53178662e+02] [ 8.37881010e-01 5.45840886e-01 -3.62479974e-03 7.38160587e+01] [ 4.28508130e-03 6.29821030e-05 9.99990817e-01 5.54360252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:73.84, Z:0.55 [[ 5.45394952e-01 -8.38176070e-01 -2.28529555e-03 1.53190292e+02] [ 8.38168232e-01 5.45399736e-01 -3.62537054e-03 7.38382422e+01] [ 4.28509842e-03 6.17966597e-05 9.99990817e-01 5.53790290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.20, Y:73.86, Z:0.55 [[ 5.44666440e-01 -8.38649659e-01 -2.28440748e-03 1.53202627e+02] [ 8.38641822e-01 5.44671228e-01 -3.62593005e-03 7.38613269e+01] [ 4.28513602e-03 5.91227603e-05 9.99990817e-01 5.54457226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:73.88, Z:0.55 [[ 5.43461430e-01 -8.39431033e-01 -2.28354918e-03 1.53214976e+02] [ 8.39423201e-01 5.43466225e-01 -3.62647051e-03 7.38845698e+01] [ 4.28520374e-03 5.39826872e-05 9.99990817e-01 5.54074932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:73.91, Z:0.55 [[ 5.40764520e-01 -8.41170924e-01 -2.28269368e-03 1.53225474e+02] [ 8.41163105e-01 5.40769337e-01 -3.62700892e-03 7.39080398e+01] [ 4.28534519e-03 4.12400333e-05 9.99990817e-01 5.53118874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.398623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:153.24, Y:73.93, Z:0.55 [[ 5.39026813e-01 -8.42285515e-01 -2.28179739e-03 1.53238402e+02] [ 8.42277704e-01 5.39031642e-01 -3.62757270e-03 7.39315762e+01] [ 4.28541294e-03 3.34518853e-05 9.99990817e-01 5.53924622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.25, Y:73.95, Z:0.55 [[ 5.37027671e-01 -8.43561544e-01 -2.28091445e-03 1.53250562e+02] [ 8.43553742e-01 5.37032514e-01 -3.62812779e-03 7.39537965e+01] [ 4.28547430e-03 2.43310942e-05 9.99990817e-01 5.54159349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:73.98, Z:0.55 [[ 5.35110620e-01 -8.44778921e-01 -2.27999267e-03 1.53263058e+02] [ 8.44771128e-01 5.35115477e-01 -3.62870696e-03 7.39768000e+01] [ 4.28551452e-03 1.56876520e-05 9.99990817e-01 5.54729267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:74.00, Z:0.56 [[ 5.31230620e-01 -8.47224193e-01 -2.27910415e-03 1.53273737e+02] [ 8.47216420e-01 5.31235509e-01 -3.62926493e-03 7.40000436e+01] [ 4.28554211e-03 -2.91780279e-06 9.99990817e-01 5.55152834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.29, Y:74.02, Z:0.56 [[ 5.29016169e-01 -8.48608687e-01 -2.27817540e-03 1.53286777e+02] [ 8.48600923e-01 5.29021074e-01 -3.62984784e-03 7.40233342e+01] [ 4.28552320e-03 -1.30135512e-05 9.99990817e-01 5.55214917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:74.05, Z:0.56 [[ 5.26582678e-01 -8.50120872e-01 -2.27729057e-03 1.53299337e+02] [ 8.50113121e-01 5.26587602e-01 -3.63040288e-03 7.40454370e+01] [ 4.28547424e-03 -2.42473230e-05 9.99990817e-01 5.55175773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:74.07, Z:0.55 [[ 5.21429614e-01 -8.53291261e-01 -2.27636736e-03 1.53311137e+02] [ 8.53283537e-01 5.21434580e-01 -3.63098167e-03 7.40677923e+01] [ 4.28526158e-03 -4.90854241e-05 9.99990817e-01 5.53688673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:74.09, Z:0.55 [[ 5.18701700e-01 -8.54952261e-01 -2.27546440e-03 1.53324282e+02] [ 8.54944551e-01 5.18706687e-01 -3.63154744e-03 7.40895032e+01] [ 4.28509830e-03 -6.17060604e-05 9.99990817e-01 5.52576637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:74.11, Z:0.55 [[ 5.15995714e-01 -8.56588145e-01 -2.27457067e-03 1.53338406e+02] [ 8.56580447e-01 5.16000722e-01 -3.63210713e-03 7.41120406e+01] [ 4.28490002e-03 -7.42010451e-05 9.99990817e-01 5.52038560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.668623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.35, Y:74.13, Z:0.55 [[ 5.13432426e-01 -8.58127015e-01 -2.27372392e-03 1.53352442e+02] [ 8.58119331e-01 5.13437453e-01 -3.63263713e-03 7.41341546e+01] [ 4.28467907e-03 -8.60127575e-05 9.99990817e-01 5.52542456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:74.16, Z:0.55 [[ 5.09082307e-01 -8.60714842e-01 -2.27286248e-03 1.53365934e+02] [ 8.60707181e-01 5.09087369e-01 -3.63317603e-03 7.41557200e+01] [ 4.28421411e-03 -1.06683418e-04 9.99990817e-01 5.53208564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:74.18, Z:0.55 [[ 5.07008201e-01 -8.61938236e-01 -2.27196107e-03 1.53380346e+02] [ 8.61930584e-01 5.07013278e-01 -3.63373963e-03 7.41779769e+01] [ 4.28397355e-03 -1.15936946e-04 9.99990817e-01 5.53404535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.39, Y:74.20, Z:0.55 [[ 5.05256727e-01 -8.62966096e-01 -2.27111304e-03 1.53394933e+02] [ 8.62958452e-01 5.05261816e-01 -3.63426958e-03 7.41994210e+01] [ 4.28375813e-03 -1.23637039e-04 9.99990817e-01 5.54168199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.41, Y:74.22, Z:0.56 [[ 5.02730858e-01 -8.64440010e-01 -2.27026804e-03 1.53411133e+02] [ 8.64432378e-01 5.02735966e-01 -3.63479735e-03 7.42204963e+01] [ 4.28340966e-03 -1.35168413e-04 9.99990817e-01 5.55764523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.43, Y:74.24, Z:0.56 [[ 5.01905405e-01 -8.64919542e-01 -2.26941213e-03 1.53425129e+02] [ 8.64911913e-01 5.01910517e-01 -3.63533167e-03 7.42412424e+01] [ 4.28331122e-03 -1.38248968e-04 9.99990817e-01 5.55628942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:74.26, Z:0.56 [[ 5.01392325e-01 -8.65217077e-01 -2.26851729e-03 1.53439944e+02] [ 8.65209449e-01 5.01397437e-01 -3.63588998e-03 7.42635411e+01] [ 4.28326286e-03 -1.39735263e-04 9.99990817e-01 5.56063572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.45, Y:74.29, Z:0.56 [[ 5.01240756e-01 -8.65304895e-01 -2.26768683e-03 1.53454928e+02] [ 8.65297266e-01 5.01245867e-01 -3.63640787e-03 7.42852470e+01] [ 4.28327018e-03 -1.39507381e-04 9.99990817e-01 5.56774335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.47, Y:74.31, Z:0.56 [[ 5.01542824e-01 -8.65129850e-01 -2.26684492e-03 1.53470428e+02] [ 8.65122216e-01 5.01547928e-01 -3.63693261e-03 7.43062029e+01] [ 4.28335034e-03 -1.37020447e-04 9.99990817e-01 5.64339221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.48, Y:74.33, Z:0.56 [[ 5.02205621e-01 -8.64745269e-01 -2.26599915e-03 1.53484825e+02] [ 8.64737628e-01 5.02210716e-01 -3.63745949e-03 7.43268092e+01] [ 4.28348494e-03 -1.32742130e-04 9.99990817e-01 5.58558036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.50, Y:74.35, Z:0.56 [[ 5.02809512e-01 -8.64394276e-01 -2.26511381e-03 1.53499297e+02] [ 8.64386629e-01 5.02814598e-01 -3.63801073e-03 7.43486944e+01] [ 4.28360794e-03 -1.28707693e-04 9.99990817e-01 5.58888317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.51, Y:74.37, Z:0.56 [[ 5.03568048e-01 -8.63952599e-01 -2.26426992e-03 1.53514079e+02] [ 8.63944946e-01 5.03573124e-01 -3.63853589e-03 7.43702813e+01] [ 4.28374801e-03 -1.23954137e-04 9.99990817e-01 5.59430211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02862385300003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:153.53, Y:74.39, Z:0.56 [[ 5.06187853e-01 -8.62420277e-01 -2.26338595e-03 1.53530429e+02] [ 8.62412606e-01 5.06192902e-01 -3.63908568e-03 7.43903188e+01] [ 4.28413119e-03 -1.09911611e-04 9.99990817e-01 5.57950197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:153.55, Y:74.41, Z:0.56 [[ 5.07691838e-01 -8.61535768e-01 -2.26246004e-03 1.53545107e+02] [ 8.61528085e-01 5.07696869e-01 -3.63966124e-03 7.44122165e+01] [ 4.28434222e-03 -1.01346565e-04 9.99990817e-01 5.57794435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.56, Y:74.43, Z:0.56 [[ 5.09311994e-01 -8.60578978e-01 -2.26163335e-03 1.53559661e+02] [ 8.60571284e-01 5.09317007e-01 -3.64017486e-03 7.44346374e+01] [ 4.28454629e-03 -9.23119950e-05 9.99990817e-01 5.58670225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.58, Y:74.45, Z:0.56 [[ 5.12461503e-01 -8.58707224e-01 -2.26074981e-03 1.53575402e+02] [ 8.58699510e-01 5.12466484e-01 -3.64072351e-03 7.44547397e+01] [ 4.28487408e-03 -7.55741075e-05 9.99990817e-01 5.57982483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.59, Y:74.48, Z:0.56 [[ 5.13729846e-01 -8.57949030e-01 -2.25982604e-03 1.53590287e+02] [ 8.57941306e-01 5.13734812e-01 -3.64129681e-03 7.44752562e+01] [ 4.28499837e-03 -6.81552598e-05 9.99990817e-01 5.57761228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.178623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.60, Y:74.50, Z:0.56 [[ 5.14603520e-01 -8.57425282e-01 -2.25892490e-03 1.53604780e+02] [ 8.57417550e-01 5.14608474e-01 -3.64185576e-03 7.44958032e+01] [ 4.28508110e-03 -6.27300594e-05 9.99990817e-01 5.56995472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208623853 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:153.62, Y:74.52, Z:0.57 [[ 5.15976552e-01 -8.56599731e-01 -2.25803404e-03 1.53620841e+02] [ 8.56591989e-01 5.15981489e-01 -3.64240803e-03 7.45168411e+01] [ 4.28518950e-03 -5.48167339e-05 9.99990817e-01 5.65091532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.238623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:153.64, Y:74.54, Z:0.56 [[ 5.16685512e-01 -8.56172288e-01 -2.25714697e-03 1.53636174e+02] [ 8.56164540e-01 5.16690439e-01 -3.64295764e-03 7.45377522e+01] [ 4.28524564e-03 -5.02257646e-05 9.99990817e-01 5.58166147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.268623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.65, Y:74.56, Z:0.56 [[ 5.16867248e-01 -8.56062589e-01 -2.25643917e-03 1.53651226e+02] [ 8.56054837e-01 5.16872171e-01 -3.64339601e-03 7.45596741e+01] [ 4.28526563e-03 -4.84835939e-05 9.99990817e-01 5.58918027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.298623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.67, Y:74.58, Z:0.56 [[ 5.17176860e-01 -8.55875580e-01 -2.25557203e-03 1.53666277e+02] [ 8.55867824e-01 5.17181776e-01 -3.64393276e-03 7.45810032e+01] [ 4.28529381e-03 -4.59138221e-05 9.99990817e-01 5.58744932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.328623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.68, Y:74.60, Z:0.56 [[ 5.17943418e-01 -8.55411908e-01 -2.25471009e-03 1.53684213e+02] [ 8.55404145e-01 5.17948324e-01 -3.64446601e-03 7.46011588e+01] [ 4.28534294e-03 -4.10611705e-05 9.99990817e-01 5.58154413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.358623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.70, Y:74.62, Z:0.56 [[ 5.18342441e-01 -8.55170179e-01 -2.25383777e-03 1.53699031e+02] [ 8.55162411e-01 5.18347339e-01 -3.64500540e-03 7.46214558e+01] [ 4.28537073e-03 -3.80363489e-05 9.99990817e-01 5.56829924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.71, Y:74.64, Z:0.56 [[ 5.18678915e-01 -8.54966144e-01 -2.25292288e-03 1.53714232e+02] [ 8.54958373e-01 5.18683806e-01 -3.64557079e-03 7.46429074e+01] [ 4.28539422e-03 -3.52745746e-05 9.99990817e-01 5.57747460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.73, Y:74.66, Z:0.56 [[ 5.19279472e-01 -8.54601520e-01 -2.25202856e-03 1.53729293e+02] [ 8.54593743e-01 5.19284354e-01 -3.64612317e-03 7.46639527e+01] [ 4.28542560e-03 -3.12126042e-05 9.99990817e-01 5.57052452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:74.68, Z:0.56 [[ 5.20589965e-01 -8.53803854e-01 -2.25109270e-03 1.53745593e+02] [ 8.53796066e-01 5.20594832e-01 -3.64670087e-03 7.46844543e+01] [ 4.28547448e-03 -2.35382072e-05 9.99990817e-01 5.56801957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:153.76, Y:74.71, Z:0.56 [[ 5.21312271e-01 -8.53363025e-01 -2.25023088e-03 1.53759810e+02] [ 8.53355231e-01 5.21317127e-01 -3.64723259e-03 7.47051434e+01] [ 4.28549733e-03 -1.88991876e-05 9.99990817e-01 5.56533826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.78, Y:74.73, Z:0.56 [[ 5.21985062e-01 -8.52951661e-01 -2.24932861e-03 1.53775142e+02] [ 8.52943860e-01 5.21989908e-01 -3.64778895e-03 7.47270171e+01] [ 4.28551448e-03 -1.44596816e-05 9.99990817e-01 5.56741568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:153.79, Y:74.75, Z:0.56 [[ 5.23477018e-01 -8.52036828e-01 -2.24846796e-03 1.53791926e+02] [ 8.52029017e-01 5.23481847e-01 -3.64831937e-03 7.47476201e+01] [ 4.28553463e-03 -5.94859566e-06 9.99990817e-01 5.56531306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.81, Y:74.77, Z:0.56 [[ 5.23896441e-01 -8.51779001e-01 -2.24760763e-03 1.53806519e+02] [ 8.51771186e-01 5.23901262e-01 -3.64884931e-03 7.47690294e+01] [ 4.28553770e-03 -2.82824880e-06 9.99990817e-01 5.56933588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.82, Y:74.79, Z:0.56 [[ 5.24328209e-01 -8.51513289e-01 -2.24673460e-03 1.53820937e+02] [ 8.51505469e-01 5.24333023e-01 -3.64938679e-03 7.47900455e+01] [ 4.28553850e-03 3.69642887e-07 9.99990817e-01 5.56641485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:153.84, Y:74.81, Z:0.56 [[ 5.24357680e-01 -8.51495143e-01 -2.24603719e-03 1.53835032e+02] [ 8.51487321e-01 5.24362490e-01 -3.64981597e-03 7.48115415e+01] [ 4.28553823e-03 1.33684281e-06 9.99990817e-01 5.62355431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.85, Y:74.83, Z:0.56 [[ 5.24850647e-01 -8.51191375e-01 -2.24535647e-03 1.53852313e+02] [ 8.51183548e-01 5.24855450e-01 -3.65023470e-03 7.48316570e+01] [ 4.28553587e-03 4.61755824e-06 9.99990817e-01 5.57191358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.87, Y:74.85, Z:0.56 [[ 5.24637501e-01 -8.51322768e-01 -2.24451923e-03 1.53866841e+02] [ 8.51314940e-01 5.24642302e-01 -3.65074944e-03 7.48534821e+01] [ 4.28553586e-03 4.52730980e-06 9.99990817e-01 5.57917901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.88, Y:74.88, Z:0.56 [[ 5.24453117e-01 -8.51436371e-01 -2.24367148e-03 1.53881606e+02] [ 8.51428542e-01 5.24457916e-01 -3.65127038e-03 7.48750422e+01] [ 4.28553567e-03 4.59419696e-06 9.99990817e-01 5.58935949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:153.90, Y:74.90, Z:0.56 [[ 5.24445127e-01 -8.51441295e-01 -2.24281091e-03 1.53896020e+02] [ 8.51433464e-01 5.24449923e-01 -3.65179891e-03 7.48972137e+01] [ 4.28553440e-03 5.56388171e-06 9.99990817e-01 5.63709492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.91, Y:74.92, Z:0.56 [[ 5.25073463e-01 -8.51053954e-01 -2.24194915e-03 1.53911588e+02] [ 8.51046117e-01 5.25078249e-01 -3.65232789e-03 7.49186737e+01] [ 4.28552683e-03 9.73833586e-06 9.99990817e-01 5.59953245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80862385300003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:153.93, Y:74.94, Z:0.56 [[ 5.25345596e-01 -8.50885998e-01 -2.24107094e-03 1.53925964e+02] [ 8.50878158e-01 5.25350376e-01 -3.65286668e-03 7.49413055e+01] [ 4.28552058e-03 1.21391131e-05 9.99990817e-01 5.59527635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.838623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:153.94, Y:74.96, Z:0.56 [[ 5.26385826e-01 -8.50242874e-01 -2.24019455e-03 1.53940097e+02] [ 8.50235025e-01 5.26390592e-01 -3.65340407e-03 7.49624084e+01] [ 4.28549811e-03 1.84082539e-05 9.99990817e-01 5.57017026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:153.95, Y:74.99, Z:0.56 [[ 5.26585315e-01 -8.50119340e-01 -2.23927856e-03 1.53954267e+02] [ 8.50111487e-01 5.26590075e-01 -3.65396542e-03 7.49851148e+01] [ 4.28548854e-03 2.04881031e-05 9.99990817e-01 5.58233527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.898623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:153.97, Y:75.01, Z:0.56 [[ 5.26383772e-01 -8.50244150e-01 -2.23841317e-03 1.53968054e+02] [ 8.50236296e-01 5.26388531e-01 -3.65449548e-03 7.50081512e+01] [ 4.28548842e-03 2.04869923e-05 9.99990817e-01 5.58348436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:153.98, Y:75.03, Z:0.56 [[ 5.26602344e-01 -8.50108796e-01 -2.23754671e-03 1.53981806e+02] [ 8.50100939e-01 5.26607097e-01 -3.65502591e-03 7.50293405e+01] [ 4.28547765e-03 2.26046566e-05 9.99990817e-01 5.57074842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.958623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:154.00, Y:75.05, Z:0.56 [[ 5.26220614e-01 -8.50345143e-01 -2.23664170e-03 1.53996034e+02] [ 8.50337286e-01 5.26225367e-01 -3.65557964e-03 7.50519825e+01] [ 4.28548199e-03 2.17415319e-05 9.99990817e-01 5.57256051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.988623853 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:154.01, Y:75.07, Z:0.56 [[ 5.25529415e-01 -8.50772493e-01 -2.23578506e-03 1.54008754e+02] [ 8.50764638e-01 5.25534170e-01 -3.65610349e-03 7.50735983e+01] [ 4.28549373e-03 1.92630577e-05 9.99990817e-01 5.64070656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.018623853 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:154.02, Y:75.10, Z:0.57 [[ 5.24504520e-01 -8.51404730e-01 -2.23488850e-03 1.54023655e+02] [ 8.51396877e-01 5.24509281e-01 -3.65665146e-03 7.50952894e+01] [ 4.28551010e-03 1.51531287e-05 9.99990817e-01 5.65080250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.048623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:154.04, Y:75.12, Z:0.56 [[ 5.23751794e-01 -8.51867987e-01 -2.23403890e-03 1.54037733e+02] [ 8.51860137e-01 5.23756559e-01 -3.65717044e-03 7.51158769e+01] [ 4.28551895e-03 1.23608996e-05 9.99990817e-01 5.58171133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.078623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.05, Y:75.14, Z:0.56 [[ 5.22971037e-01 -8.52347528e-01 -2.23315017e-03 1.54052256e+02] [ 8.52339679e-01 5.22975805e-01 -3.65771304e-03 7.51382968e+01] [ 4.28552618e-03 9.47548076e-06 9.99990817e-01 5.58157851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.108623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.07, Y:75.16, Z:0.56 [[ 5.21470283e-01 -8.53266524e-01 -2.23235428e-03 1.54066498e+02] [ 8.53258682e-01 5.21475061e-01 -3.65819872e-03 7.51598823e+01] [ 4.28553559e-03 2.86624709e-06 9.99990817e-01 5.58625131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.138623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:154.08, Y:75.18, Z:0.56 [[ 5.20459094e-01 -8.53883688e-01 -2.23146609e-03 1.54080419e+02] [ 8.53875849e-01 5.20463878e-01 -3.65874043e-03 7.51820910e+01] [ 4.28553626e-03 -1.17027412e-06 9.99990817e-01 5.59732090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.168623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:154.09, Y:75.20, Z:0.56 [[ 5.19465810e-01 -8.54488325e-01 -2.23055902e-03 1.54094081e+02] [ 8.54480489e-01 5.19470599e-01 -3.65929334e-03 7.52031103e+01] [ 4.28553327e-03 -5.09138028e-06 9.99990817e-01 5.59857956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19862385300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:154.11, Y:75.23, Z:0.56 [[ 5.18566953e-01 -8.55034119e-01 -2.22961359e-03 1.54108990e+02] [ 8.55026286e-01 5.18571746e-01 -3.65986930e-03 7.52254450e+01] [ 4.28552774e-03 -8.49095849e-06 9.99990817e-01 5.60625210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:154.12, Y:75.25, Z:0.56 [[ 5.16980921e-01 -8.55994019e-01 -2.22872593e-03 1.54122850e+02] [ 8.55986192e-01 5.16985725e-01 -3.66040978e-03 7.52462386e+01] [ 4.28550836e-03 -1.53965999e-05 9.99990817e-01 5.60004558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:154.14, Y:75.27, Z:0.56 [[ 5.16231304e-01 -8.56446308e-01 -2.22780126e-03 1.54136260e+02] [ 8.56438483e-01 5.16236110e-01 -3.66097246e-03 7.52681128e+01] [ 4.28549781e-03 -1.80661433e-05 9.99990817e-01 5.58615629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.15, Y:75.29, Z:0.56 [[ 5.15560383e-01 -8.56850356e-01 -2.22689478e-03 1.54149981e+02] [ 8.56842533e-01 5.15565192e-01 -3.66152378e-03 7.52905815e+01] [ 4.28548738e-03 -2.03615584e-05 9.99990817e-01 5.59656025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.16, Y:75.31, Z:0.56 [[ 5.14955631e-01 -8.57213942e-01 -2.22600770e-03 1.54163778e+02] [ 8.57206120e-01 5.14960442e-01 -3.66206299e-03 7.53122558e+01] [ 4.28547736e-03 -2.23474666e-05 9.99990817e-01 5.59707503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34862385300002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:154.18, Y:75.33, Z:0.56 [[ 5.13945023e-01 -8.57820239e-01 -2.22507749e-03 1.54178666e+02] [ 8.57812420e-01 5.13949839e-01 -3.66262810e-03 7.53329667e+01] [ 4.28545473e-03 -2.63096175e-05 9.99990817e-01 5.59185789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.19, Y:75.36, Z:0.56 [[ 5.13399088e-01 -8.58147091e-01 -2.22417869e-03 1.54193062e+02] [ 8.58139273e-01 5.13403905e-01 -3.66317383e-03 7.53553399e+01] [ 4.28544399e-03 -2.79849797e-05 9.99990817e-01 5.60266113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:154.21, Y:75.38, Z:0.56 [[ 5.12921368e-01 -8.58432715e-01 -2.22328324e-03 1.54207025e+02] [ 8.58424898e-01 5.12926186e-01 -3.66371722e-03 7.53767117e+01] [ 4.28543491e-03 -2.93228361e-05 9.99990817e-01 5.60900414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:154.22, Y:75.40, Z:0.56 [[ 5.12482979e-01 -8.58694507e-01 -2.22235020e-03 1.54220721e+02] [ 8.58686690e-01 5.12487797e-01 -3.66428310e-03 7.53983236e+01] [ 4.28542713e-03 -3.04198168e-05 9.99990817e-01 5.61187172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46862385300003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:154.23, Y:75.42, Z:0.56 [[ 5.12288326e-01 -8.58810652e-01 -2.22142370e-03 1.54234580e+02] [ 8.58802833e-01 5.12293141e-01 -3.66484469e-03 7.54203948e+01] [ 4.28542779e-03 -3.03078198e-05 9.99990817e-01 5.61586422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:154.25, Y:75.44, Z:0.56 [[ 5.12316979e-01 -8.58793562e-01 -2.22053596e-03 1.54248183e+02] [ 8.58785740e-01 5.12321791e-01 -3.66538250e-03 7.54412313e+01] [ 4.28543585e-03 -2.91269314e-05 9.99990817e-01 5.61172808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:154.26, Y:75.46, Z:0.56 [[ 5.12264421e-01 -8.58824916e-01 -2.21960626e-03 1.54262195e+02] [ 8.58817093e-01 5.12269228e-01 -3.66594540e-03 7.54631948e+01] [ 4.28544124e-03 -2.83023943e-05 9.99990817e-01 5.61137758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55862385300003 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:154.28, Y:75.49, Z:0.57 [[ 5.12405143e-01 -8.58740966e-01 -2.21873170e-03 1.54275654e+02] [ 8.58733139e-01 5.12409946e-01 -3.66647463e-03 7.54855846e+01] [ 4.28545216e-03 -2.65779791e-05 9.99990817e-01 5.67226175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.29, Y:75.51, Z:0.56 [[ 5.13310034e-01 -8.58200379e-01 -2.21785251e-03 1.54289727e+02] [ 8.58192545e-01 5.13314825e-01 -3.66700637e-03 7.55076034e+01] [ 4.28548283e-03 -2.10333260e-05 9.99990817e-01 5.61691302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.30, Y:75.53, Z:0.56 [[ 5.13850260e-01 -8.57877028e-01 -2.21693961e-03 1.54302663e+02] [ 8.57869189e-01 5.13855042e-01 -3.66755820e-03 7.55293341e+01] [ 4.28549952e-03 -1.72684492e-05 9.99990817e-01 5.61198884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.32, Y:75.55, Z:0.56 [[ 5.14241895e-01 -8.57642328e-01 -2.21598758e-03 1.54316373e+02] [ 8.57634484e-01 5.14246670e-01 -3.66813334e-03 7.55523445e+01] [ 4.28551065e-03 -1.41995206e-05 9.99990817e-01 5.61164578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.678623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:154.33, Y:75.57, Z:0.56 [[ 5.14956124e-01 -8.57213675e-01 -2.21511313e-03 1.54329200e+02] [ 8.57205824e-01 5.14960888e-01 -3.66866132e-03 7.55738814e+01] [ 4.28552328e-03 -9.60826276e-06 9.99990817e-01 5.60549216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.708623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.34, Y:75.60, Z:0.56 [[ 5.16261423e-01 -8.56428188e-01 -2.21419898e-03 1.54342327e+02] [ 8.56420328e-01 5.16266171e-01 -3.66921297e-03 7.55963081e+01] [ 4.28553344e-03 -2.01190853e-06 9.99990817e-01 5.59662392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.738623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.36, Y:75.62, Z:0.56 [[ 5.16644029e-01 -8.56197435e-01 -2.21327603e-03 1.54355737e+02] [ 8.56189571e-01 5.16648770e-01 -3.66976961e-03 7.56185741e+01] [ 4.28553367e-03 9.80700394e-07 9.99990817e-01 5.59349275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.768623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.37, Y:75.64, Z:0.56 [[ 5.16955316e-01 -8.56009525e-01 -2.21241376e-03 1.54368951e+02] [ 8.56001656e-01 5.16960050e-01 -3.67028938e-03 7.56402562e+01] [ 4.28553220e-03 3.54576038e-06 9.99990817e-01 5.59054972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.798623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:154.38, Y:75.66, Z:0.56 [[ 5.17232163e-01 -8.55842274e-01 -2.21151050e-03 1.54382289e+02] [ 8.55834402e-01 5.17236891e-01 -3.67083356e-03 7.56626276e+01] [ 4.28552935e-03 5.98641874e-06 9.99990817e-01 5.59480439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.828623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.39, Y:75.69, Z:0.56 [[ 5.17968654e-01 -8.55396742e-01 -2.21063904e-03 1.54394741e+02] [ 8.55388863e-01 5.17973372e-01 -3.67135828e-03 7.56857517e+01] [ 4.28552007e-03 1.06924902e-05 9.99990817e-01 5.60190977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.858623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:154.41, Y:75.71, Z:0.56 [[ 5.18523417e-01 -8.55060573e-01 -2.20976320e-03 1.54407343e+02] [ 8.55052689e-01 5.18528126e-01 -3.67188537e-03 7.57081439e+01] [ 4.28550878e-03 1.44945872e-05 9.99990817e-01 5.60104866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.888623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.42, Y:75.73, Z:0.56 [[ 5.18896429e-01 -8.54834262e-01 -2.20906972e-03 1.54420051e+02] [ 8.54826375e-01 5.18901131e-01 -3.67230254e-03 7.57307658e+01] [ 4.28549880e-03 1.71736144e-05 9.99990817e-01 5.60862982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.918623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.43, Y:75.75, Z:0.56 [[ 5.19931827e-01 -8.54204904e-01 -2.20820139e-03 1.54431981e+02] [ 8.54197009e-01 5.19936516e-01 -3.67282460e-03 7.57529637e+01] [ 4.28546932e-03 2.33793786e-05 9.99990817e-01 5.60251466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.44, Y:75.78, Z:0.56 [[ 5.20514118e-01 -8.53850210e-01 -2.20729524e-03 1.54444002e+02] [ 8.53842309e-01 5.20518797e-01 -3.67336909e-03 7.57752676e+01] [ 4.28544564e-03 2.73584071e-05 9.99990817e-01 5.59837350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:154.46, Y:75.80, Z:0.56 [[ 5.20731291e-01 -8.53717784e-01 -2.20640037e-03 1.54456208e+02] [ 8.53709879e-01 5.20735964e-01 -3.67390652e-03 7.57991772e+01] [ 4.28543136e-03 2.94922851e-05 9.99990817e-01 5.59798386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:154.47, Y:75.82, Z:0.56 [[ 5.21013434e-01 -8.53545627e-01 -2.20550848e-03 1.54467559e+02] [ 8.53537718e-01 5.21018102e-01 -3.67444186e-03 7.58214463e+01] [ 4.28541362e-03 3.19488983e-05 9.99990817e-01 5.58961467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.48, Y:75.84, Z:0.56 [[ 5.21100340e-01 -8.53492575e-01 -2.20457734e-03 1.54479225e+02] [ 8.53484663e-01 5.21105002e-01 -3.67500044e-03 7.58438643e+01] [ 4.28540186e-03 3.34710326e-05 9.99990817e-01 5.58564002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.49, Y:75.87, Z:0.56 [[ 5.21419895e-01 -8.53297390e-01 -2.20390214e-03 1.54490395e+02] [ 8.53289475e-01 5.21424552e-01 -3.67540531e-03 7.58675240e+01] [ 4.28538244e-03 3.58629483e-05 9.99990817e-01 5.58798784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.50, Y:75.89, Z:0.56 [[ 5.21249324e-01 -8.53401599e-01 -2.20304699e-03 1.54502505e+02] [ 8.53393683e-01 5.21253979e-01 -3.67591782e-03 7.58907167e+01] [ 4.28538115e-03 3.60032951e-05 9.99990817e-01 5.59016422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:154.51, Y:75.91, Z:0.56 [[ 5.21214270e-01 -8.53423011e-01 -2.20217983e-03 1.54514998e+02] [ 8.53415093e-01 5.21218921e-01 -3.67643724e-03 7.59141029e+01] [ 4.28537393e-03 3.68380450e-05 9.99990817e-01 5.59157356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15862385300002 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:154.53, Y:75.94, Z:0.57 [[ 5.20875986e-01 -8.53629523e-01 -2.20130959e-03 1.54526318e+02] [ 8.53621604e-01 5.20880636e-01 -3.67695824e-03 7.59376957e+01] [ 4.28537964e-03 3.61538264e-05 9.99990817e-01 5.66518190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18862385300002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:154.54, Y:75.96, Z:0.56 [[ 5.19633260e-01 -8.54386583e-01 -2.20044284e-03 1.54537362e+02] [ 8.54378669e-01 5.19637918e-01 -3.67747686e-03 7.59608714e+01] [ 4.28542042e-03 3.09278695e-05 9.99990817e-01 5.58848661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.55, Y:75.98, Z:0.56 [[ 5.18608514e-01 -8.55008989e-01 -2.19953682e-03 1.54549329e+02] [ 8.55001078e-01 5.18613178e-01 -3.67801868e-03 7.59845588e+01] [ 4.28544781e-03 2.68454515e-05 9.99990817e-01 5.59345759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.56, Y:76.01, Z:0.56 [[ 5.17311335e-01 -8.55794454e-01 -2.19867261e-03 1.54560709e+02] [ 8.55786549e-01 5.17316007e-01 -3.67853522e-03 7.60081580e+01] [ 4.28547858e-03 2.13535239e-05 9.99990817e-01 5.60274020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.57, Y:76.03, Z:0.56 [[ 5.16027048e-01 -8.56569469e-01 -2.19778989e-03 1.54572390e+02] [ 8.56561568e-01 5.16031728e-01 -3.67906254e-03 7.60310612e+01] [ 4.28550196e-03 1.59534240e-05 9.99990817e-01 5.60513703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30862385300003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:154.58, Y:76.06, Z:0.56 [[ 5.12301561e-01 -8.58802821e-01 -2.19686609e-03 1.54584266e+02] [ 8.58794938e-01 5.12306271e-01 -3.67961408e-03 7.60550833e+01] [ 4.28553123e-03 -1.58544538e-06 9.99990817e-01 5.62057993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.338623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:154.60, Y:76.08, Z:0.56 [[ 5.10669676e-01 -8.59774191e-01 -2.19601592e-03 1.54596820e+02] [ 8.59766315e-01 5.10674397e-01 -3.68012140e-03 7.60776341e+01] [ 4.28552251e-03 -8.73411907e-06 9.99990817e-01 5.61393183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.368623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.61, Y:76.10, Z:0.56 [[ 5.08719283e-01 -8.60929656e-01 -2.19512276e-03 1.54609363e+02] [ 8.60921788e-01 5.08724019e-01 -3.68065408e-03 7.61008288e+01] [ 4.28549592e-03 -1.74093090e-05 9.99990817e-01 5.60809574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.398623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.62, Y:76.12, Z:0.56 [[ 5.06779884e-01 -8.62072696e-01 -2.19425056e-03 1.54621693e+02] [ 8.62064837e-01 5.06784634e-01 -3.68117397e-03 7.61239724e+01] [ 4.28545204e-03 -2.60413308e-05 9.99990817e-01 5.60456451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:154.63, Y:76.15, Z:0.56 [[ 5.03090924e-01 -8.64230705e-01 -2.19334173e-03 1.54633467e+02] [ 8.64222864e-01 5.03095703e-01 -3.68171540e-03 7.61471599e+01] [ 4.28531229e-03 -4.32984699e-05 9.99990817e-01 5.59403720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.458623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:154.65, Y:76.17, Z:0.56 [[ 5.01119472e-01 -8.65375334e-01 -2.19242079e-03 1.54646295e+02] [ 8.65367501e-01 5.01124265e-01 -3.68226373e-03 7.61692161e+01] [ 4.28521546e-03 -5.19956456e-05 9.99990817e-01 5.58794947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.488623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:154.66, Y:76.19, Z:0.56 [[ 4.97844601e-01 -8.67263484e-01 -2.19145877e-03 1.54660381e+02] [ 8.67255667e-01 4.97849419e-01 -3.68283617e-03 7.61916262e+01] [ 4.28500580e-03 -6.70749391e-05 9.99990817e-01 5.60087218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.518623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.67, Y:76.21, Z:0.56 [[ 4.96460345e-01 -8.68056639e-01 -2.19056156e-03 1.54673731e+02] [ 8.68048827e-01 4.96465172e-01 -3.68336976e-03 7.62133779e+01] [ 4.28491109e-03 -7.28673690e-05 9.99990817e-01 5.60601628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.548623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.69, Y:76.23, Z:0.56 [[ 4.94856255e-01 -8.68972090e-01 -2.18962643e-03 1.54686626e+02] [ 8.68964285e-01 4.94861092e-01 -3.68392557e-03 7.62346587e+01] [ 4.28478943e-03 -7.96935508e-05 9.99990817e-01 5.61061134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.578623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.70, Y:76.26, Z:0.56 [[ 4.93484169e-01 -8.69752024e-01 -2.18892370e-03 1.54700387e+02] [ 8.69744225e-01 4.93489016e-01 -3.68434307e-03 7.62567161e+01] [ 4.28467465e-03 -8.56387685e-05 9.99990817e-01 5.61348319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.608623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.71, Y:76.28, Z:0.56 [[ 4.92351563e-01 -8.70393676e-01 -2.18803487e-03 1.54713624e+02] [ 8.70385880e-01 4.92356417e-01 -3.68487085e-03 7.62780495e+01] [ 4.28458129e-03 -9.01827351e-05 9.99990817e-01 5.61113236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.638623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.73, Y:76.30, Z:0.56 [[ 4.91226247e-01 -8.71029271e-01 -2.18732810e-03 1.54727968e+02] [ 8.71021480e-01 4.91231107e-01 -3.68529034e-03 7.63002258e+01] [ 4.28447936e-03 -9.48984203e-05 9.99990817e-01 5.59844824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.668623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.74, Y:76.32, Z:0.56 [[ 4.91189840e-01 -8.71049804e-01 -2.18644521e-03 1.54741118e+02] [ 8.71042011e-01 4.91194697e-01 -3.68581407e-03 7.63219889e+01] [ 4.28449792e-03 -9.40512133e-05 9.99990817e-01 5.59176687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.75, Y:76.34, Z:0.56 [[ 4.91317977e-01 -8.70977537e-01 -2.18552596e-03 1.54754370e+02] [ 8.70969740e-01 4.91322829e-01 -3.68635907e-03 7.63438391e+01] [ 4.28453474e-03 -9.23524989e-05 9.99990817e-01 5.59501219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.77, Y:76.37, Z:0.56 [[ 4.91837430e-01 -8.70684312e-01 -2.18458556e-03 1.54767451e+02] [ 8.70676510e-01 4.91842273e-01 -3.68691628e-03 7.63651673e+01] [ 4.28461169e-03 -8.87039048e-05 9.99990817e-01 5.60447250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:154.78, Y:76.39, Z:0.56 [[ 4.92548075e-01 -8.70282497e-01 -2.18363339e-03 1.54781327e+02] [ 8.70274689e-01 4.92552909e-01 -3.68748013e-03 7.63877892e+01] [ 4.28470439e-03 -8.40996314e-05 9.99990817e-01 5.60698103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.80, Y:76.41, Z:0.56 [[ 4.94617367e-01 -8.69108103e-01 -2.18274415e-03 1.54795195e+02] [ 8.69100282e-01 4.94622178e-01 -3.68800643e-03 7.64094353e+01] [ 4.28490994e-03 -7.28715219e-05 9.99990817e-01 5.59701271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:154.81, Y:76.43, Z:0.56 [[ 4.95242562e-01 -8.68752004e-01 -2.18203287e-03 1.54807959e+02] [ 8.68744177e-01 4.95247364e-01 -3.68842721e-03 7.64309554e+01] [ 4.28497456e-03 -6.89622066e-05 9.99990817e-01 5.60229324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:154.82, Y:76.45, Z:0.56 [[ 4.95019776e-01 -8.68878970e-01 -2.18108420e-03 1.54820913e+02] [ 8.68871141e-01 4.95024576e-01 -3.68898811e-03 7.64535179e+01] [ 4.28497447e-03 -6.89590474e-05 9.99990817e-01 5.60340656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:154.83, Y:76.48, Z:0.56 [[ 4.95707661e-01 -8.68486708e-01 -2.18013810e-03 1.54834546e+02] [ 8.68478873e-01 4.95712451e-01 -3.68954715e-03 7.64757721e+01] [ 4.28504426e-03 -6.44670851e-05 9.99990817e-01 5.60465357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.85, Y:76.50, Z:0.56 [[ 4.96523723e-01 -8.68020417e-01 -2.17924289e-03 1.54848255e+02] [ 8.68012575e-01 4.96528501e-01 -3.69007583e-03 7.64984982e+01] [ 4.28511737e-03 -5.94000430e-05 9.99990817e-01 5.60508210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:154.86, Y:76.52, Z:0.56 [[ 4.98395061e-01 -8.66947298e-01 -2.17833918e-03 1.54861803e+02] [ 8.66939444e-01 4.98399819e-01 -3.69060924e-03 7.65204954e+01] [ 4.28524756e-03 -4.91067402e-05 9.99990817e-01 5.58783145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96862385300003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:154.88, Y:76.54, Z:0.56 [[ 4.98953368e-01 -8.66626099e-01 -2.17739436e-03 1.54875668e+02] [ 8.66618240e-01 4.98958117e-01 -3.69116658e-03 7.65433575e+01] [ 4.28528989e-03 -4.52496703e-05 9.99990817e-01 5.58643017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.89, Y:76.57, Z:0.56 [[ 4.99599268e-01 -8.66253909e-01 -2.17650076e-03 1.54888944e+02] [ 8.66246043e-01 4.99604007e-01 -3.69169342e-03 7.65655087e+01] [ 4.28533236e-03 -4.10178460e-05 9.99990817e-01 5.58565685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.90, Y:76.59, Z:0.56 [[ 5.00165568e-01 -8.65927059e-01 -2.17556838e-03 1.54902065e+02] [ 8.65919188e-01 5.00170298e-01 -3.69224280e-03 7.65884655e+01] [ 4.28536764e-03 -3.71336837e-05 9.99990817e-01 5.59999369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:154.92, Y:76.61, Z:0.56 [[ 5.01681749e-01 -8.65049532e-01 -2.17467387e-03 1.54915233e+02] [ 8.65041651e-01 5.01686462e-01 -3.69276958e-03 7.66106094e+01] [ 4.28543304e-03 -2.85883666e-05 9.99990817e-01 5.59974051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.088623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:154.93, Y:76.63, Z:0.56 [[ 5.02202127e-01 -8.64747535e-01 -2.17373549e-03 1.54928346e+02] [ 8.64739648e-01 5.02206830e-01 -3.69332187e-03 7.66319826e+01] [ 4.28545579e-03 -2.49211591e-05 9.99990817e-01 5.59809531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.118623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:154.94, Y:76.65, Z:0.56 [[ 5.02524707e-01 -8.64560118e-01 -2.17281118e-03 1.54941864e+02] [ 8.64552227e-01 5.02529404e-01 -3.69386557e-03 7.66545261e+01] [ 4.28547036e-03 -2.22500341e-05 9.99990817e-01 5.59955711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.148623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:154.95, Y:76.68, Z:0.56 [[ 5.02402074e-01 -8.64631389e-01 -2.17193174e-03 1.54954160e+02] [ 8.64623496e-01 5.02406769e-01 -3.69438259e-03 7.66774666e+01] [ 4.28547236e-03 -2.18377368e-05 9.99990817e-01 5.58815033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.178623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.97, Y:76.70, Z:0.56 [[ 5.01948190e-01 -8.64894965e-01 -2.17105866e-03 1.54967173e+02] [ 8.64887073e-01 5.01952884e-01 -3.69489560e-03 7.67003016e+01] [ 4.28546576e-03 -2.30744118e-05 9.99990817e-01 5.58672331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.208623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:154.98, Y:76.72, Z:0.56 [[ 5.01233066e-01 -8.65309600e-01 -2.17018703e-03 1.54979758e+02] [ 8.65301710e-01 5.01237763e-01 -3.69540748e-03 7.67213028e+01] [ 4.28545126e-03 -2.56061280e-05 9.99990817e-01 5.58938093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.238623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:154.99, Y:76.74, Z:0.56 [[ 4.99578717e-01 -8.66265779e-01 -2.16919068e-03 1.54994261e+02] [ 8.66257895e-01 4.99583425e-01 -3.69599224e-03 7.67427161e+01] [ 4.28540331e-03 -3.26394959e-05 9.99990817e-01 5.58455103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.268623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:155.01, Y:76.76, Z:0.56 [[ 4.98559285e-01 -8.66852893e-01 -2.16823561e-03 1.55008016e+02] [ 8.66845012e-01 4.98563998e-01 -3.69655244e-03 7.67648971e+01] [ 4.28537140e-03 -3.65736863e-05 9.99990817e-01 5.57764526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.298623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:155.02, Y:76.79, Z:0.56 [[ 4.97340405e-01 -8.67552779e-01 -2.16736031e-03 1.55021531e+02] [ 8.67544902e-01 4.97345126e-01 -3.69706558e-03 7.67852442e+01] [ 4.28532560e-03 -4.15822933e-05 9.99990817e-01 5.56763129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.328623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:155.04, Y:76.81, Z:0.56 [[ 4.96124636e-01 -8.68248612e-01 -2.16636013e-03 1.55035833e+02] [ 8.68240740e-01 4.96129364e-01 -3.69765156e-03 7.68074941e+01] [ 4.28527571e-03 -4.64260857e-05 9.99990817e-01 5.56745822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.358623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:155.05, Y:76.83, Z:0.56 [[ 4.94717443e-01 -8.69051185e-01 -2.16545997e-03 1.55050174e+02] [ 8.69043318e-01 4.94722179e-01 -3.69817865e-03 7.68279899e+01] [ 4.28520761e-03 -5.23250318e-05 9.99990817e-01 5.55612347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.388623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:155.06, Y:76.85, Z:0.56 [[ 4.94018774e-01 -8.69448541e-01 -2.16451953e-03 1.55063700e+02] [ 8.69440675e-01 4.94023513e-01 -3.69872900e-03 7.68498601e+01] [ 4.28517807e-03 -5.46797567e-05 9.99990817e-01 5.56498618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.418623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.08, Y:76.87, Z:0.56 [[ 4.93539779e-01 -8.69720533e-01 -2.16357075e-03 1.55076892e+02] [ 8.69712668e-01 4.93544518e-01 -3.69928390e-03 7.68703703e+01] [ 4.28516165e-03 -5.59411308e-05 9.99990817e-01 5.57987292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.09, Y:76.89, Z:0.56 [[ 4.93319782e-01 -8.69845340e-01 -2.16258240e-03 1.55090339e+02] [ 8.69837473e-01 4.93324519e-01 -3.69986159e-03 7.68914947e+01] [ 4.28516229e-03 -5.58802992e-05 9.99990817e-01 5.59330820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47862385300002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:155.10, Y:76.91, Z:0.56 [[ 4.93819363e-01 -8.69561823e-01 -2.16165175e-03 1.55104726e+02] [ 8.69553951e-01 4.93824092e-01 -3.70040525e-03 7.69127604e+01] [ 4.28520685e-03 -5.23410589e-05 9.99990817e-01 5.60136429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.12, Y:76.93, Z:0.56 [[ 4.94175556e-01 -8.69359449e-01 -2.16070730e-03 1.55117736e+02] [ 8.69351572e-01 4.94180277e-01 -3.70095664e-03 7.69330144e+01] [ 4.28524056e-03 -4.94919795e-05 9.99990817e-01 5.60447526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53862385300002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:155.13, Y:76.95, Z:0.56 [[ 4.94722437e-01 -8.69048356e-01 -2.15990402e-03 1.55130804e+02] [ 8.69040475e-01 4.94727150e-01 -3.70142538e-03 7.69535417e+01] [ 4.28528080e-03 -4.58658273e-05 9.99990817e-01 5.61111168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:155.14, Y:76.98, Z:0.56 [[ 4.95190987e-01 -8.68781460e-01 -2.15894121e-03 1.55144256e+02] [ 8.68773574e-01 4.95195691e-01 -3.70198688e-03 7.69757009e+01] [ 4.28531595e-03 -4.24405365e-05 9.99990817e-01 5.61548196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59862385300002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:155.16, Y:77.00, Z:0.56 [[ 4.96681673e-01 -8.67930100e-01 -2.15801569e-03 1.55158232e+02] [ 8.67922203e-01 4.96686360e-01 -3.70252632e-03 7.69976323e+01] [ 4.28539100e-03 -3.40127611e-05 9.99990817e-01 5.61699879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:155.17, Y:77.02, Z:0.56 [[ 4.97053535e-01 -8.67717195e-01 -2.15709208e-03 1.55171760e+02] [ 8.67709294e-01 4.97058214e-01 -3.70306433e-03 7.70195968e+01] [ 4.28541293e-03 -3.11076304e-05 9.99990817e-01 5.62228390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65862385300002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:155.18, Y:77.04, Z:0.56 [[ 4.97409081e-01 -8.67513434e-01 -2.15617645e-03 1.55184913e+02] [ 8.67505528e-01 4.97413753e-01 -3.70359740e-03 7.70402864e+01] [ 4.28543232e-03 -2.82920102e-05 9.99990817e-01 5.62421562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:155.20, Y:77.06, Z:0.56 [[ 4.97683478e-01 -8.67356046e-01 -2.15522251e-03 1.55198249e+02] [ 8.67348137e-01 4.97688144e-01 -3.70415244e-03 7.70619323e+01] [ 4.28544771e-03 -2.58327540e-05 9.99990817e-01 5.61452693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.21, Y:77.09, Z:0.56 [[ 4.97626425e-01 -8.67388783e-01 -2.15427906e-03 1.55211705e+02] [ 8.67380871e-01 4.97631087e-01 -3.70470105e-03 7.70851382e+01] [ 4.28545237e-03 -2.50233062e-05 9.99990817e-01 5.61124040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:155.23, Y:77.11, Z:0.56 [[ 4.97608494e-01 -8.67399072e-01 -2.15338333e-03 1.55225125e+02] [ 8.67391158e-01 4.97613153e-01 -3.70522163e-03 7.71071291e+01] [ 4.28545767e-03 -2.40759018e-05 9.99990817e-01 5.61560719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.24, Y:77.13, Z:0.56 [[ 4.98023190e-01 -8.67161040e-01 -2.15244667e-03 1.55240433e+02] [ 8.67153122e-01 4.98027841e-01 -3.70576568e-03 7.71289359e+01] [ 4.28547399e-03 -2.09436013e-05 9.99990817e-01 5.61740779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:155.25, Y:77.15, Z:0.56 [[ 4.98157959e-01 -8.67083629e-01 -2.15155793e-03 1.55254664e+02] [ 8.67075708e-01 4.98162605e-01 -3.70628161e-03 7.71516811e+01] [ 4.28548181e-03 -1.92499306e-05 9.99990817e-01 5.61845645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.838623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:155.27, Y:77.17, Z:0.56 [[ 4.98282807e-01 -8.67011891e-01 -2.15066446e-03 1.55267992e+02] [ 8.67003967e-01 4.98287448e-01 -3.70679999e-03 7.71731318e+01] [ 4.28548878e-03 -1.75999129e-05 9.99990817e-01 5.61406945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.868623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:155.28, Y:77.20, Z:0.56 [[ 4.98366148e-01 -8.66963991e-01 -2.14973254e-03 1.55281447e+02] [ 8.66956064e-01 4.98370784e-01 -3.70734037e-03 7.71956124e+01] [ 4.28549450e-03 -1.61107233e-05 9.99990817e-01 5.61252345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.898623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.29, Y:77.22, Z:0.56 [[ 4.98439854e-01 -8.66921620e-01 -2.14883717e-03 1.55294640e+02] [ 8.66913690e-01 4.98444486e-01 -3.70785927e-03 7.72176780e+01] [ 4.28549940e-03 -1.47115284e-05 9.99990817e-01 5.60345003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.928623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.31, Y:77.24, Z:0.56 [[ 4.98450623e-01 -8.66915430e-01 -2.14790395e-03 1.55308246e+02] [ 8.66907498e-01 4.98455251e-01 -3.70839979e-03 7.72404478e+01] [ 4.28550300e-03 -1.35798550e-05 9.99990817e-01 5.59394307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.32, Y:77.26, Z:0.56 [[ 4.97852249e-01 -8.67259205e-01 -2.14702743e-03 1.55322160e+02] [ 8.67251274e-01 4.97856878e-01 -3.70890720e-03 7.72623453e+01] [ 4.28549628e-03 -1.55244853e-05 9.99990817e-01 5.59791176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.988623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:155.34, Y:77.28, Z:0.56 [[ 4.96921876e-01 -8.67792627e-01 -2.14614230e-03 1.55336479e+02] [ 8.67784699e-01 4.96926510e-01 -3.70941931e-03 7.72839067e+01] [ 4.28548172e-03 -1.90978462e-05 9.99990817e-01 5.59344389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.018623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.35, Y:77.30, Z:0.56 [[ 4.95126438e-01 -8.68818283e-01 -2.14521800e-03 1.55351175e+02] [ 8.68810362e-01 4.95131084e-01 -3.70995377e-03 7.73035935e+01] [ 4.28543977e-03 -2.68914325e-05 9.99990817e-01 5.59670268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.048623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:155.36, Y:77.32, Z:0.56 [[ 4.93876785e-01 -8.69529254e-01 -2.14421483e-03 1.55363980e+02] [ 8.69521337e-01 4.93881439e-01 -3.71053347e-03 7.73244131e+01] [ 4.28540530e-03 -3.18942086e-05 9.99990817e-01 5.60099103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.078623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:155.38, Y:77.35, Z:0.57 [[ 4.92999770e-01 -8.70026800e-01 -2.14323201e-03 1.55377223e+02] [ 8.70018886e-01 4.93004428e-01 -3.71110106e-03 7.73466958e+01] [ 4.28538026e-03 -3.50803565e-05 9.99990817e-01 5.65205412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.108623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:155.39, Y:77.37, Z:0.56 [[ 4.92257628e-01 -8.70446919e-01 -2.14234830e-03 1.55392330e+02] [ 8.70439006e-01 4.92262288e-01 -3.71161114e-03 7.73686544e+01] [ 4.28535776e-03 -3.77146310e-05 9.99990817e-01 5.61236005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.138623853 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:155.41, Y:77.39, Z:0.57 [[ 4.91496380e-01 -8.70876985e-01 -2.14144827e-03 1.55406105e+02] [ 8.70869074e-01 4.91501044e-01 -3.71213036e-03 7.73896857e+01] [ 4.28533295e-03 -4.04224355e-05 9.99990817e-01 5.69715842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.168623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:155.42, Y:77.41, Z:0.56 [[ 4.91334539e-01 -8.70968305e-01 -2.14050621e-03 1.55420655e+02] [ 8.70960393e-01 4.91339200e-01 -3.71267349e-03 7.74110309e+01] [ 4.28533555e-03 -4.01314130e-05 9.99990817e-01 5.61228685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19862385300002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:155.43, Y:77.43, Z:0.56 [[ 4.91262706e-01 -8.71008827e-01 -2.13957282e-03 1.55434036e+02] [ 8.71000913e-01 4.91267363e-01 -3.71321131e-03 7.74330078e+01] [ 4.28534213e-03 -3.94076424e-05 9.99990817e-01 5.61202744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22862385300002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:155.45, Y:77.45, Z:0.56 [[ 4.91410282e-01 -8.70925577e-01 -2.13860343e-03 1.55447005e+02] [ 8.70917660e-01 4.91414934e-01 -3.71376954e-03 7.74543948e+01] [ 4.28535855e-03 -3.75629578e-05 9.99990817e-01 5.60665659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25862385300002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:155.46, Y:77.48, Z:0.56 [[ 4.91794620e-01 -8.70708609e-01 -2.13759622e-03 1.55460331e+02] [ 8.70700688e-01 4.91799264e-01 -3.71434919e-03 7.74757139e+01] [ 4.28538407e-03 -3.45095498e-05 9.99990817e-01 5.59814846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28862385300002 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:155.47, Y:77.50, Z:0.56 [[ 4.91991957e-01 -8.70597122e-01 -2.13665600e-03 1.55472595e+02] [ 8.70589197e-01 4.91996596e-01 -3.71488997e-03 7.74969127e+01] [ 4.28539999e-03 -3.24536433e-05 9.99990817e-01 5.59974021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:155.49, Y:77.52, Z:0.56 [[ 4.92103219e-01 -8.70534239e-01 -2.13567805e-03 1.55485513e+02] [ 8.70526310e-01 4.92107853e-01 -3.71545210e-03 7.75184915e+01] [ 4.28541221e-03 -3.07779903e-05 9.99990817e-01 5.60802348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34862385300002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:155.50, Y:77.54, Z:0.56 [[ 4.92197125e-01 -8.70481151e-01 -2.13474754e-03 1.55498531e+02] [ 8.70473219e-01 4.92201753e-01 -3.71598666e-03 7.75401754e+01] [ 4.28542282e-03 -2.92426175e-05 9.99990817e-01 5.61376664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37862385300002 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:155.51, Y:77.56, Z:0.56 [[ 4.92596311e-01 -8.70255319e-01 -2.13382030e-03 1.55511743e+02] [ 8.70247384e-01 4.92600932e-01 -3.71651903e-03 7.75613202e+01] [ 4.28544232e-03 -2.62079724e-05 9.99990817e-01 5.62406802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:155.52, Y:77.58, Z:0.56 [[ 4.92765513e-01 -8.70159526e-01 -2.13285357e-03 1.55524939e+02] [ 8.70151587e-01 4.92770128e-01 -3.71707374e-03 7.75832970e+01] [ 4.28545365e-03 -2.42601735e-05 9.99990817e-01 5.62672291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:155.54, Y:77.60, Z:0.56 [[ 4.92778204e-01 -8.70152341e-01 -2.13191777e-03 1.55537686e+02] [ 8.70144400e-01 4.92782815e-01 -3.71761038e-03 7.76047618e+01] [ 4.28545982e-03 -2.31189473e-05 9.99990817e-01 5.62028184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:155.55, Y:77.63, Z:0.56 [[ 4.93107213e-01 -8.69965939e-01 -2.13094488e-03 1.55550735e+02] [ 8.69957994e-01 4.93111817e-01 -3.71816797e-03 7.76262907e+01] [ 4.28547359e-03 -2.03770829e-05 9.99990817e-01 5.61886738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:155.56, Y:77.65, Z:0.56 [[ 4.94227794e-01 -8.69329829e-01 -2.13000845e-03 1.55563033e+02] [ 8.69321875e-01 4.94232384e-01 -3.71870434e-03 7.76474414e+01] [ 4.28549976e-03 -1.37758976e-05 9.99990817e-01 5.59560046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52862385300003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:155.58, Y:77.67, Z:0.56 [[ 4.94712829e-01 -8.69053902e-01 -2.12903835e-03 1.55575525e+02] [ 8.69045943e-01 4.94717410e-01 -3.71925965e-03 7.76696196e+01] [ 4.28550945e-03 -1.02666785e-05 9.99990817e-01 5.59287122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:155.59, Y:77.69, Z:0.56 [[ 4.95272355e-01 -8.68735153e-01 -2.12811606e-03 1.55587774e+02] [ 8.68727189e-01 4.95276927e-01 -3.71978730e-03 7.76917037e+01] [ 4.28551677e-03 -6.44446760e-06 9.99990817e-01 5.59013972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.588623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:155.60, Y:77.71, Z:0.56 [[ 4.96609349e-01 -8.67971560e-01 -2.12719444e-03 1.55599573e+02] [ 8.67963587e-01 4.96613905e-01 -3.72031427e-03 7.77142441e+01] [ 4.28552132e-03 1.21553075e-06 9.99990817e-01 5.59183721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.618623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:155.61, Y:77.74, Z:0.56 [[ 4.96950394e-01 -8.67776345e-01 -2.12626010e-03 1.55611878e+02] [ 8.67768368e-01 4.96954943e-01 -3.72084819e-03 7.77364313e+01] [ 4.28551951e-03 3.97571566e-06 9.99990817e-01 5.59311683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.648623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.62, Y:77.76, Z:0.56 [[ 4.97231786e-01 -8.67615142e-01 -2.12533004e-03 1.55624195e+02] [ 8.67607161e-01 4.97236328e-01 -3.72137936e-03 7.77577636e+01] [ 4.28551639e-03 6.43654493e-06 9.99990817e-01 5.58860242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.678623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:155.64, Y:77.78, Z:0.56 [[ 4.97538901e-01 -8.67439064e-01 -2.12436074e-03 1.55636911e+02] [ 8.67431079e-01 4.97543436e-01 -3.72193261e-03 7.77795199e+01] [ 4.28551148e-03 9.06973260e-06 9.99990817e-01 5.59202998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.708623853 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:155.65, Y:77.80, Z:0.56 [[ 4.97779569e-01 -8.67300981e-01 -2.12342635e-03 1.55647848e+02] [ 8.67292993e-01 4.97784098e-01 -3.72246562e-03 7.78016276e+01] [ 4.28550595e-03 1.13345379e-05 9.99990817e-01 5.57635143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.738623853 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:155.66, Y:77.82, Z:0.56 [[ 4.97570656e-01 -8.67420854e-01 -2.12245574e-03 1.55660443e+02] [ 8.67412864e-01 4.97575183e-01 -3.72301895e-03 7.78244049e+01] [ 4.28550558e-03 1.14195692e-05 9.99990817e-01 5.57746457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.768623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:155.67, Y:77.85, Z:0.56 [[ 4.97398922e-01 -8.67519343e-01 -2.12155888e-03 1.55672084e+02] [ 8.67511352e-01 4.97403447e-01 -3.72352995e-03 7.78468053e+01] [ 4.28550496e-03 1.16033722e-05 9.99990817e-01 5.58202851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.798623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:155.68, Y:77.87, Z:0.56 [[ 4.97179297e-01 -8.67645232e-01 -2.12061301e-03 1.55684554e+02] [ 8.67637240e-01 4.97183820e-01 -3.72406856e-03 7.78698203e+01] [ 4.28550481e-03 1.16069716e-05 9.99990817e-01 5.58879861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.828623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:155.70, Y:77.89, Z:0.56 [[ 4.96944805e-01 -8.67779562e-01 -2.11974222e-03 1.55696265e+02] [ 8.67771569e-01 4.96949326e-01 -3.72456415e-03 7.78909185e+01] [ 4.28550512e-03 1.14507730e-05 9.99990817e-01 5.58552892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.858623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:155.71, Y:77.91, Z:0.56 [[ 4.96883846e-01 -8.67814470e-01 -2.11874269e-03 1.55707743e+02] [ 8.67806475e-01 4.96888363e-01 -3.72513266e-03 7.79133193e+01] [ 4.28550261e-03 1.22996153e-05 9.99990817e-01 5.60124420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.888623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:155.72, Y:77.94, Z:0.56 [[ 4.96596651e-01 -8.67978848e-01 -2.11780633e-03 1.55719067e+02] [ 8.67970852e-01 4.96601167e-01 -3.72566492e-03 7.79354206e+01] [ 4.28550344e-03 1.19585617e-05 9.99990817e-01 5.61027755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.918623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:155.73, Y:77.96, Z:0.56 [[ 4.95786407e-01 -8.68441914e-01 -2.11683591e-03 1.55729912e+02] [ 8.68433920e-01 4.95790926e-01 -3.72621621e-03 7.79572196e+01] [ 4.28551037e-03 9.07523907e-06 9.99990817e-01 5.61903569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94862385300002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:155.74, Y:77.98, Z:0.56 [[ 4.95142579e-01 -8.68809156e-01 -2.11587386e-03 1.55741663e+02] [ 8.68801163e-01 4.95147100e-01 -3.72676241e-03 7.79802655e+01] [ 4.28551411e-03 7.00508063e-06 9.99990817e-01 5.62015286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97862385300002 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:155.75, Y:78.00, Z:0.56 [[ 4.94456126e-01 -8.69200015e-01 -2.11494249e-03 1.55752546e+02] [ 8.69192023e-01 4.94460649e-01 -3.72729089e-03 7.80027968e+01] [ 4.28551714e-03 4.69066767e-06 9.99990817e-01 5.61986884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:155.76, Y:78.03, Z:0.56 [[ 4.94019922e-01 -8.69448013e-01 -2.11397063e-03 1.55764589e+02] [ 8.69440022e-01 4.94024445e-01 -3.72784201e-03 7.80256076e+01] [ 4.28551800e-03 3.65754842e-06 9.99990817e-01 5.61901258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03862385300002 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:155.78, Y:78.05, Z:0.56 [[ 4.93494980e-01 -8.69746078e-01 -2.11305141e-03 1.55776141e+02] [ 8.69738086e-01 4.93499504e-01 -3.72836298e-03 7.80475344e+01] [ 4.28551890e-03 2.12712283e-06 9.99990817e-01 5.62096532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06862385300002 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:155.79, Y:78.07, Z:0.56 [[ 4.92808976e-01 -8.70134962e-01 -2.11209337e-03 1.55788373e+02] [ 8.70126972e-01 4.92813502e-01 -3.72890562e-03 7.80711775e+01] [ 4.28551928e-03 -1.51250332e-07 9.99990817e-01 5.63431121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09862385300002 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:155.80, Y:78.09, Z:0.56 [[ 4.92486219e-01 -8.70317682e-01 -2.11119662e-03 1.55800224e+02] [ 8.70309691e-01 4.92490744e-01 -3.72941327e-03 7.80941177e+01] [ 4.28551910e-03 -7.10241146e-07 9.99990817e-01 5.62399540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12862385300002 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:155.81, Y:78.12, Z:0.56 [[ 4.91949229e-01 -8.70621331e-01 -2.11025866e-03 1.55812140e+02] [ 8.70613341e-01 4.91953755e-01 -3.72994393e-03 7.81171899e+01] [ 4.28551842e-03 -2.27629979e-06 9.99990817e-01 5.63456914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15862385300002 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:155.82, Y:78.14, Z:0.56 [[ 4.90991959e-01 -8.71161550e-01 -2.10932569e-03 1.55823529e+02] [ 8.71153563e-01 4.90996490e-01 -3.73047146e-03 7.81410273e+01] [ 4.28551481e-03 -5.91509804e-06 9.99990817e-01 5.62972364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:155.83, Y:78.16, Z:0.56 [[ 4.90241237e-01 -8.71584238e-01 -2.10844362e-03 1.55834661e+02] [ 8.71576253e-01 4.90245771e-01 -3.73096993e-03 7.81632279e+01] [ 4.28551015e-03 -8.59407300e-06 9.99990817e-01 5.61548850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21862385300003 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:155.85, Y:78.19, Z:0.56 [[ 4.89335809e-01 -8.72092899e-01 -2.10743387e-03 1.55846118e+02] [ 8.72084916e-01 4.89340347e-01 -3.73154020e-03 7.81860606e+01] [ 4.28550213e-03 -1.18850442e-05 9.99990817e-01 5.60682507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:155.86, Y:78.21, Z:0.56 [[ 4.87497902e-01 -8.73121617e-01 -2.10654274e-03 1.55856924e+02] [ 8.73113641e-01 4.87502452e-01 -3.73204320e-03 7.82091547e+01] [ 4.28547234e-03 -1.98879725e-05 9.99990817e-01 5.61173471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27862385300003 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:155.87, Y:78.23, Z:0.56 [[ 4.86268750e-01 -8.73806769e-01 -2.10562204e-03 1.55868519e+02] [ 8.73798797e-01 4.86273308e-01 -3.73256259e-03 7.82314008e+01] [ 4.28544625e-03 -2.48614617e-05 9.99990817e-01 5.62533263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30862385300003 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:155.88, Y:78.25, Z:0.56 [[ 4.85006877e-01 -8.74507804e-01 -2.10465181e-03 1.55879934e+02] [ 8.74499837e-01 4.85011443e-01 -3.73310958e-03 7.82534954e+01] [ 4.28541367e-03 -2.99338424e-05 9.99990817e-01 5.61926297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.338623853 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:155.89, Y:78.28, Z:0.57 [[ 4.83764235e-01 -8.75195829e-01 -2.10364098e-03 1.55890676e+02] [ 8.75187866e-01 4.83768808e-01 -3.73367911e-03 7.82766626e+01] [ 4.28537627e-03 -3.48606386e-05 9.99990817e-01 5.70827524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.368623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:155.90, Y:78.30, Z:0.56 [[ 4.82758351e-01 -8.75751080e-01 -2.10266782e-03 1.55903761e+02] [ 8.75743119e-01 4.82762929e-01 -3.73422707e-03 7.82978805e+01] [ 4.28534347e-03 -3.86675716e-05 9.99990817e-01 5.64500240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.398623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:155.92, Y:78.32, Z:0.56 [[ 4.81218262e-01 -8.76598293e-01 -2.10165212e-03 1.55915143e+02] [ 8.76590338e-01 4.81222849e-01 -3.73479863e-03 7.83202987e+01] [ 4.28528113e-03 -4.50346329e-05 9.99990817e-01 5.63615643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.428623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:155.93, Y:78.34, Z:0.56 [[ 4.80465228e-01 -8.77011261e-01 -2.10067564e-03 1.55926338e+02] [ 8.77003307e-01 4.80469818e-01 -3.73534778e-03 7.83422616e+01] [ 4.28525331e-03 -4.75947545e-05 9.99990817e-01 5.62568441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.458623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:155.94, Y:78.37, Z:0.56 [[ 4.79917759e-01 -8.77310969e-01 -2.09965922e-03 1.55938718e+02] [ 8.77303016e-01 4.79922349e-01 -3.73591903e-03 7.83652368e+01] [ 4.28523613e-03 -4.91034803e-05 9.99990817e-01 5.62289540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.488623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:155.95, Y:78.39, Z:0.56 [[ 4.78559162e-01 -8.78052803e-01 -2.09876584e-03 1.55949734e+02] [ 8.78044854e-01 4.78563761e-01 -3.73642084e-03 7.83869252e+01] [ 4.28516807e-03 -5.47121252e-05 9.99990817e-01 5.60928058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.518623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:155.96, Y:78.41, Z:0.56 [[ 4.77834569e-01 -8.78447337e-01 -2.09773914e-03 1.55961353e+02] [ 8.78439390e-01 4.77839170e-01 -3.73699718e-03 7.84085299e+01] [ 4.28513715e-03 -5.70702499e-05 9.99990817e-01 5.60168188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.548623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:155.97, Y:78.43, Z:0.56 [[ 4.77093637e-01 -8.78849967e-01 -2.09690664e-03 1.55974028e+02] [ 8.78842022e-01 4.77098241e-01 -3.73746425e-03 7.84310702e+01] [ 4.28510080e-03 -5.97292630e-05 9.99990817e-01 5.60079909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.578623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:155.99, Y:78.45, Z:0.56 [[ 4.76127676e-01 -8.79373665e-01 -2.09596407e-03 1.55986287e+02] [ 8.79365723e-01 4.76132285e-01 -3.73799277e-03 7.84522514e+01] [ 4.28504856e-03 -6.33571464e-05 9.99990817e-01 5.61554913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.608623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:156.00, Y:78.47, Z:0.56 [[ 4.75627621e-01 -8.79644233e-01 -2.09515458e-03 1.55998307e+02] [ 8.79636291e-01 4.75632231e-01 -3.73844643e-03 7.84738467e+01] [ 4.28502589e-03 -6.48656210e-05 9.99990817e-01 5.62252381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.638623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:156.01, Y:78.50, Z:0.56 [[ 4.74732796e-01 -8.80127483e-01 -2.09417708e-03 1.56010431e+02] [ 8.80119544e-01 4.74737410e-01 -3.73899392e-03 7.84962457e+01] [ 4.28497551e-03 -6.81031394e-05 9.99990817e-01 5.63911393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.668623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:156.02, Y:78.52, Z:0.56 [[ 4.74103194e-01 -8.80466797e-01 -2.09318751e-03 1.56022992e+02] [ 8.80458858e-01 4.74107809e-01 -3.73954783e-03 7.85187850e+01] [ 4.28494424e-03 -7.00339164e-05 9.99990817e-01 5.64733936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69862385300002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:156.03, Y:78.54, Z:0.56 [[ 4.73260040e-01 -8.80920290e-01 -2.09219354e-03 1.56034958e+02] [ 8.80912354e-01 4.73264659e-01 -3.74010385e-03 7.85401311e+01] [ 4.28489463e-03 -7.29974433e-05 9.99990817e-01 5.63756734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:156.05, Y:78.56, Z:0.56 [[ 4.71998136e-01 -8.81597066e-01 -2.09116090e-03 1.56048484e+02] [ 8.81589134e-01 4.72002762e-01 -3.74068113e-03 7.85622763e+01] [ 4.28480723e-03 -7.79502090e-05 9.99990817e-01 5.64217375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:156.06, Y:78.58, Z:0.56 [[ 4.71587033e-01 -8.81817045e-01 -2.09019331e-03 1.56061643e+02] [ 8.81809112e-01 4.71591659e-01 -3.74122171e-03 7.85843394e+01] [ 4.28479081e-03 -7.88398582e-05 9.99990817e-01 5.64224794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:156.08, Y:78.61, Z:0.56 [[ 4.71427504e-01 -8.81902343e-01 -2.08920347e-03 1.56075066e+02] [ 8.81894409e-01 4.71432127e-01 -3.74177439e-03 7.86051947e+01] [ 4.28479724e-03 -7.84814944e-05 9.99990817e-01 5.63153655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:156.09, Y:78.63, Z:0.56 [[ 4.71551138e-01 -8.81836246e-01 -2.08817341e-03 1.56087801e+02] [ 8.81828308e-01 4.71555755e-01 -3.74234915e-03 7.86271689e+01] [ 4.28482931e-03 -7.67014237e-05 9.99990817e-01 5.62670417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84862385300002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:156.10, Y:78.65, Z:0.56 [[ 4.72277069e-01 -8.81447681e-01 -2.08721363e-03 1.56099561e+02] [ 8.81439737e-01 4.72281675e-01 -3.74288436e-03 7.86481535e+01] [ 4.28490949e-03 -7.20745774e-05 9.99990817e-01 5.61036199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:156.11, Y:78.67, Z:0.56 [[ 4.73094491e-01 -8.81009223e-01 -2.08621806e-03 1.56112105e+02] [ 8.81001272e-01 4.73099086e-01 -3.74343919e-03 7.86703893e+01] [ 4.28499231e-03 -6.69603046e-05 9.99990817e-01 5.61935161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90862385300002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:156.12, Y:78.69, Z:0.56 [[ 4.75974960e-01 -8.79456360e-01 -2.08523505e-03 1.56124786e+02] [ 8.79448392e-01 4.75979525e-01 -3.74398669e-03 7.86919626e+01] [ 4.28520209e-03 -5.18126983e-05 9.99990817e-01 5.59890929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93862385300002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:156.14, Y:78.71, Z:0.56 [[ 4.77309520e-01 -8.78732768e-01 -2.08421187e-03 1.56136961e+02] [ 8.78724791e-01 4.77314068e-01 -3.74455619e-03 7.87144859e+01] [ 4.28528787e-03 -4.41363208e-05 9.99990817e-01 5.60713843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96862385300003 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:156.15, Y:78.74, Z:0.56 [[ 4.78932368e-01 -8.77849330e-01 -2.08323164e-03 1.56148560e+02] [ 8.77841342e-01 4.78936898e-01 -3.74510145e-03 7.87367984e+01] [ 4.28537130e-03 -3.50965516e-05 9.99990817e-01 5.61322259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:156.16, Y:78.76, Z:0.56 [[ 4.80566598e-01 -8.76955762e-01 -2.08224659e-03 1.56159884e+02] [ 8.76947764e-01 4.80571108e-01 -3.74564904e-03 7.87587304e+01] [ 4.28543607e-03 -2.59876720e-05 9.99990817e-01 5.61243736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02862385300003 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:156.17, Y:78.78, Z:0.56 [[ 4.83080439e-01 -8.75573502e-01 -2.08122336e-03 1.56171763e+02] [ 8.75565488e-01 4.83084922e-01 -3.74621750e-03 7.87813027e+01] [ 4.28549641e-03 -1.25229550e-05 9.99990817e-01 5.61473946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:156.18, Y:78.80, Z:0.56 [[ 4.83938791e-01 -8.75099377e-01 -2.08024359e-03 1.56183391e+02] [ 8.75091356e-01 4.83943262e-01 -3.74676148e-03 7.88041826e+01] [ 4.28550851e-03 -7.19996177e-06 9.99990817e-01 5.61857594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.088623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:156.19, Y:78.83, Z:0.56 [[ 4.84749216e-01 -8.74650715e-01 -2.07925740e-03 1.56194125e+02] [ 8.74642688e-01 4.84753676e-01 -3.74730869e-03 7.88260870e+01] [ 4.28551389e-03 -2.10233381e-06 9.99990817e-01 5.61000865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.118623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:156.21, Y:78.85, Z:0.56 [[ 4.86185267e-01 -8.73853287e-01 -2.07823093e-03 1.56205024e+02] [ 8.73845250e-01 4.86189709e-01 -3.74787788e-03 7.88504843e+01] [ 4.28550989e-03 6.11078239e-06 9.99990817e-01 5.61623112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.148623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:156.22, Y:78.87, Z:0.56 [[ 4.86606332e-01 -8.73618889e-01 -2.07733387e-03 1.56216885e+02] [ 8.73610847e-01 4.86610766e-01 -3.74837502e-03 7.88734561e+01] [ 4.28550425e-03 9.20161280e-06 9.99990817e-01 5.61958909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.178623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.23, Y:78.90, Z:0.56 [[ 4.86846390e-01 -8.73485135e-01 -2.07639580e-03 1.56228716e+02] [ 8.73477090e-01 4.86850818e-01 -3.74889459e-03 7.88967293e+01] [ 4.28549869e-03 1.14516323e-05 9.99990817e-01 5.62567620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.208623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:156.24, Y:78.92, Z:0.56 [[ 4.87062834e-01 -8.73364464e-01 -2.07550664e-03 1.56238337e+02] [ 8.73356416e-01 4.87067256e-01 -3.74938679e-03 7.89190038e+01] [ 4.28549251e-03 1.35299218e-05 9.99990817e-01 5.62739537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.238623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:156.25, Y:78.94, Z:0.56 [[ 4.87001074e-01 -8.73398907e-01 -2.07448824e-03 1.56249191e+02] [ 8.73390857e-01 4.87005492e-01 -3.74995017e-03 7.89424723e+01] [ 4.28548955e-03 1.43906962e-05 9.99990817e-01 5.63587748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.268623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:156.26, Y:78.97, Z:0.56 [[ 4.86785840e-01 -8.73518887e-01 -2.07352376e-03 1.56259749e+02] [ 8.73510836e-01 4.86790256e-01 -3.75048341e-03 7.89656698e+01] [ 4.28548925e-03 1.44367471e-05 9.99990817e-01 5.63096518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.298623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:156.27, Y:78.99, Z:0.56 [[ 4.86499636e-01 -8.73678321e-01 -2.07255412e-03 1.56269754e+02] [ 8.73670269e-01 4.86504051e-01 -3.75101916e-03 7.89878602e+01] [ 4.28549010e-03 1.41405402e-05 9.99990817e-01 5.62708339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.328623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:156.28, Y:79.01, Z:0.56 [[ 4.85797615e-01 -8.74068868e-01 -2.07154769e-03 1.56279043e+02] [ 8.74060817e-01 4.85802032e-01 -3.75157489e-03 7.90122394e+01] [ 4.28549690e-03 1.18474632e-05 9.99990817e-01 5.62371287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.358623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:156.29, Y:79.04, Z:0.56 [[ 4.85191031e-01 -8.74405727e-01 -2.07058574e-03 1.56289306e+02] [ 8.74397677e-01 4.85195449e-01 -3.75210574e-03 7.90357204e+01] [ 4.28550153e-03 9.97269104e-06 9.99990817e-01 5.62225167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.388623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:156.30, Y:79.06, Z:0.56 [[ 4.84676406e-01 -8.74691087e-01 -2.06962328e-03 1.56299362e+02] [ 8.74683038e-01 4.84680824e-01 -3.75263655e-03 7.90581539e+01] [ 4.28550446e-03 8.55002099e-06 9.99990817e-01 5.62498555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.418623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:156.31, Y:79.08, Z:0.56 [[ 4.83909486e-01 -8.75115609e-01 -2.06880161e-03 1.56310364e+02] [ 8.75107561e-01 4.83913908e-01 -3.75308948e-03 7.90819577e+01] [ 4.28550905e-03 5.73167085e-06 9.99990817e-01 5.63441935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:156.32, Y:79.11, Z:0.56 [[ 4.81816567e-01 -8.76269661e-01 -2.06790018e-03 1.56319817e+02] [ 8.76261622e-01 4.81821005e-01 -3.75358608e-03 7.91057850e+01] [ 4.28551135e-03 -3.48160723e-06 9.99990817e-01 5.62848397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:156.33, Y:79.13, Z:0.56 [[ 4.80652338e-01 -8.76908808e-01 -2.06696130e-03 1.56330797e+02] [ 8.76900773e-01 4.80656782e-01 -3.75410302e-03 7.91297918e+01] [ 4.28550497e-03 -8.10156652e-06 9.99990817e-01 5.63188418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50862385300002 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:156.34, Y:79.15, Z:0.57 [[ 4.79377007e-01 -8.77606641e-01 -2.06607170e-03 1.56339229e+02] [ 8.77598610e-01 4.79381459e-01 -3.75459255e-03 7.91532548e+01] [ 4.28549182e-03 -1.33163173e-05 9.99990817e-01 5.69620318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:156.35, Y:79.18, Z:0.56 [[ 4.76837117e-01 -8.78989249e-01 -2.06505302e-03 1.56350265e+02] [ 8.78981228e-01 4.76841588e-01 -3.75515275e-03 7.91763589e+01] [ 4.28544205e-03 -2.45466310e-05 9.99990817e-01 5.64985158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:156.36, Y:79.20, Z:0.57 [[ 4.75304819e-01 -8.79818770e-01 -2.06407566e-03 1.56361357e+02] [ 8.79810755e-01 4.75309300e-01 -3.75568989e-03 7.91990816e+01] [ 4.28540082e-03 -3.08984578e-05 9.99990817e-01 5.65647184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:156.37, Y:79.22, Z:0.57 [[ 4.73707473e-01 -8.80679836e-01 -2.06309727e-03 1.56371693e+02] [ 8.80671827e-01 4.73711964e-01 -3.75622727e-03 7.92208700e+01] [ 4.28534747e-03 -3.75587163e-05 9.99990817e-01 5.66914581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:156.38, Y:79.24, Z:0.57 [[ 4.72499203e-01 -8.81328685e-01 -2.06208292e-03 1.56382262e+02] [ 8.81320679e-01 4.72503701e-01 -3.75678404e-03 7.92438784e+01] [ 4.28530335e-03 -4.22788505e-05 9.99990817e-01 5.67358913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:156.39, Y:79.27, Z:0.57 [[ 4.72270502e-01 -8.81451261e-01 -2.06111116e-03 1.56394488e+02] [ 8.81443254e-01 4.72274997e-01 -3.75731711e-03 7.92668483e+01] [ 4.28530317e-03 -4.22824958e-05 9.99990817e-01 5.67470245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68862385300002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:156.40, Y:79.29, Z:0.57 [[ 4.70271851e-01 -8.82519202e-01 -2.06013607e-03 1.56404645e+02] [ 8.82511203e-01 4.70276361e-01 -3.75785167e-03 7.92916914e+01] [ 4.28520955e-03 -5.08813010e-05 9.99990817e-01 5.67977531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:156.42, Y:79.31, Z:0.57 [[ 4.69477800e-01 -8.82941875e-01 -2.05921785e-03 1.56415837e+02] [ 8.82933878e-01 4.69482313e-01 -3.75835477e-03 7.93145933e+01] [ 4.28517517e-03 -5.36890710e-05 9.99990817e-01 5.67663697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.43, Y:79.34, Z:0.57 [[ 4.68647608e-01 -8.83382807e-01 -2.05825768e-03 1.56427080e+02] [ 8.83374811e-01 4.68652124e-01 -3.75888053e-03 7.93376594e+01] [ 4.28513727e-03 -5.66226145e-05 9.99990817e-01 5.67890304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:156.44, Y:79.36, Z:0.57 [[ 4.67527824e-01 -8.83975962e-01 -2.05730451e-03 1.56437905e+02] [ 8.83967970e-01 4.67532347e-01 -3.75940215e-03 7.93612928e+01] [ 4.28507753e-03 -6.09661899e-05 9.99990817e-01 5.68188849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:156.45, Y:79.38, Z:0.57 [[ 4.67167764e-01 -8.84166303e-01 -2.05631841e-03 1.56448976e+02] [ 8.84158311e-01 4.67172285e-01 -3.75994145e-03 7.93829203e+01] [ 4.28506850e-03 -6.15875753e-05 9.99990817e-01 5.67786633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.838623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:156.46, Y:79.40, Z:0.57 [[ 4.66769629e-01 -8.84376554e-01 -2.05548002e-03 1.56459790e+02] [ 8.84368561e-01 4.66774150e-01 -3.76039972e-03 7.94049137e+01] [ 4.28505429e-03 -6.25615251e-05 9.99990817e-01 5.67897509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.868623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:156.47, Y:79.43, Z:0.57 [[ 4.66374680e-01 -8.84584895e-01 -2.05449678e-03 1.56469997e+02] [ 8.84576902e-01 4.66379201e-01 -3.76093684e-03 7.94283419e+01] [ 4.28504249e-03 -6.33546854e-05 9.99990817e-01 5.68954405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.898623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:156.48, Y:79.45, Z:0.57 [[ 4.65890781e-01 -8.84839852e-01 -2.05351849e-03 1.56480795e+02] [ 8.84831859e-01 4.65895302e-01 -3.76147092e-03 7.94507434e+01] [ 4.28502399e-03 -6.45839590e-05 9.99990817e-01 5.68792485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.928623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:156.49, Y:79.47, Z:0.57 [[ 4.65328927e-01 -8.85135456e-01 -2.05268485e-03 1.56493039e+02] [ 8.85127464e-01 4.65333450e-01 -3.76192580e-03 7.94745272e+01] [ 4.28499683e-03 -6.63548401e-05 9.99990817e-01 5.69713739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.958623853 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:156.50, Y:79.50, Z:0.58 [[ 4.64839623e-01 -8.85392521e-01 -2.05176545e-03 1.56503331e+02] [ 8.85384529e-01 4.64844146e-01 -3.76242717e-03 7.94977226e+01] [ 4.28497603e-03 -6.76761599e-05 9.99990817e-01 5.76442380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.988623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:156.52, Y:79.52, Z:0.57 [[ 4.63900994e-01 -8.85884678e-01 -2.05080602e-03 1.56517183e+02] [ 8.85876688e-01 4.63905522e-01 -3.76295006e-03 7.95197616e+01] [ 4.28492004e-03 -7.11249730e-05 9.99990817e-01 5.68305372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.018623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:156.53, Y:79.54, Z:0.57 [[ 4.63279415e-01 -8.86209897e-01 -2.04980399e-03 1.56527433e+02] [ 8.86201909e-01 4.63283944e-01 -3.76349582e-03 7.95417280e+01] [ 4.28488852e-03 -7.29900626e-05 9.99990817e-01 5.72896685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.048623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:156.54, Y:79.56, Z:0.57 [[ 4.62868664e-01 -8.86424505e-01 -2.04876128e-03 1.56539767e+02] [ 8.86416516e-01 4.62873192e-01 -3.76406336e-03 7.95624887e+01] [ 4.28487467e-03 -7.37888543e-05 9.99990817e-01 5.67807574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.078623853 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:156.55, Y:79.59, Z:0.58 [[ 4.62779072e-01 -8.86471284e-01 -2.04774187e-03 1.56549826e+02] [ 8.86463293e-01 4.62783597e-01 -3.76461787e-03 7.95862626e+01] [ 4.28488698e-03 -7.30616336e-05 9.99990817e-01 5.77148419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.108623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:156.56, Y:79.61, Z:0.57 [[ 4.62774108e-01 -8.86473878e-01 -2.04674857e-03 1.56562319e+02] [ 8.86465885e-01 4.62778628e-01 -3.76515782e-03 7.96072202e+01] [ 4.28490555e-03 -7.19552337e-05 9.99990817e-01 5.69228754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.138623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:156.57, Y:79.63, Z:0.57 [[ 4.62959629e-01 -8.86377006e-01 -2.04590097e-03 1.56574177e+02] [ 8.86369010e-01 4.62964144e-01 -3.76561834e-03 7.96303049e+01] [ 4.28493630e-03 -7.00939469e-05 9.99990817e-01 5.70199412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.168623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.59, Y:79.65, Z:0.57 [[ 4.63211134e-01 -8.86245600e-01 -2.04493560e-03 1.56586734e+02] [ 8.86237601e-01 4.63215643e-01 -3.76614251e-03 7.96534954e+01] [ 4.28497339e-03 -6.77796782e-05 9.99990817e-01 5.70876848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.60, Y:79.68, Z:0.57 [[ 4.63213267e-01 -8.86244488e-01 -2.04400033e-03 1.56598897e+02] [ 8.86236486e-01 4.63217771e-01 -3.76665004e-03 7.96753903e+01] [ 4.28499011e-03 -6.67053994e-05 9.99990817e-01 5.70952758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:156.61, Y:79.70, Z:0.57 [[ 4.62915566e-01 -8.86400025e-01 -2.04325325e-03 1.56610648e+02] [ 8.86392023e-01 4.62920070e-01 -3.76705526e-03 7.96973831e+01] [ 4.28498081e-03 -6.72948662e-05 9.99990817e-01 5.70700176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:156.62, Y:79.72, Z:0.57 [[ 4.62599185e-01 -8.86565183e-01 -2.04239628e-03 1.56623509e+02] [ 8.86557180e-01 4.62603688e-01 -3.76751983e-03 7.97195036e+01] [ 4.28497196e-03 -6.78494822e-05 9.99990817e-01 5.69718295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:156.63, Y:79.74, Z:0.57 [[ 4.62191137e-01 -8.86777980e-01 -2.04140313e-03 1.56634982e+02] [ 8.86769977e-01 4.62195640e-01 -3.76805788e-03 7.97408975e+01] [ 4.28495838e-03 -6.86920483e-05 9.99990817e-01 5.69389594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31862385300002 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:156.65, Y:79.76, Z:0.58 [[ 4.61719844e-01 -8.87023462e-01 -2.04037077e-03 1.56645201e+02] [ 8.87015460e-01 4.61724347e-01 -3.76861681e-03 7.97638009e+01] [ 4.28494039e-03 -6.97952486e-05 9.99990817e-01 5.76416280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:156.66, Y:79.79, Z:0.57 [[ 4.61415621e-01 -8.87181755e-01 -2.03939595e-03 1.56659277e+02] [ 8.87173751e-01 4.61420122e-01 -3.76914426e-03 7.97855413e+01] [ 4.28493435e-03 -7.01565186e-05 9.99990817e-01 5.67768502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:156.67, Y:79.81, Z:0.57 [[ 4.60355533e-01 -8.87732295e-01 -2.03841975e-03 1.56672600e+02] [ 8.87724294e-01 4.60360040e-01 -3.76967214e-03 7.98061265e+01] [ 4.28486670e-03 -7.41653034e-05 9.99990817e-01 5.67263481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:156.69, Y:79.83, Z:0.57 [[ 4.59851728e-01 -8.87993377e-01 -2.03740319e-03 1.56685872e+02] [ 8.87985376e-01 4.59856235e-01 -3.77022148e-03 7.98282575e+01] [ 4.28484426e-03 -7.54413722e-05 9.99990817e-01 5.68643213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:156.70, Y:79.85, Z:0.57 [[ 4.59370152e-01 -8.88242600e-01 -2.03639817e-03 1.56698337e+02] [ 8.88234600e-01 4.59374659e-01 -3.77076424e-03 7.98498539e+01] [ 4.28482315e-03 -7.66227696e-05 9.99990817e-01 5.68582093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:156.71, Y:79.87, Z:0.57 [[ 4.59215905e-01 -8.88322356e-01 -2.03554280e-03 1.56711962e+02] [ 8.88314355e-01 4.59220410e-01 -3.77122593e-03 7.98712451e+01] [ 4.28482710e-03 -7.63949589e-05 9.99990817e-01 5.71304411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49862385300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:156.72, Y:79.89, Z:0.57 [[ 4.59231319e-01 -8.88314390e-01 -2.03455128e-03 1.56724192e+02] [ 8.88306386e-01 4.59235820e-01 -3.77176077e-03 7.98930164e+01] [ 4.28484820e-03 -7.51942205e-05 9.99990817e-01 5.71827987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:156.74, Y:79.91, Z:0.57 [[ 4.59402242e-01 -8.88226010e-01 -2.03352217e-03 1.56736864e+02] [ 8.88218003e-01 4.59406737e-01 -3.77231553e-03 7.99148332e+01] [ 4.28488256e-03 -7.32007924e-05 9.99990817e-01 5.71603430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.75, Y:79.94, Z:0.57 [[ 4.59712132e-01 -8.88065664e-01 -2.03256579e-03 1.56749351e+02] [ 8.88057653e-01 4.59716620e-01 -3.77283077e-03 7.99365350e+01] [ 4.28492574e-03 -7.06195291e-05 9.99990817e-01 5.72008949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.588623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:156.76, Y:79.96, Z:0.57 [[ 4.60592196e-01 -8.87609544e-01 -2.03158598e-03 1.56763049e+02] [ 8.87601526e-01 4.60596671e-01 -3.77335830e-03 7.99568002e+01] [ 4.28501058e-03 -6.52594361e-05 9.99990817e-01 5.71697091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.618623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.78, Y:79.98, Z:0.57 [[ 4.60843116e-01 -8.87479295e-01 -2.03056293e-03 1.56775724e+02] [ 8.87471273e-01 4.60847586e-01 -3.77390875e-03 7.99789788e+01] [ 4.28504590e-03 -6.28863992e-05 9.99990817e-01 5.72097742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.648623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.79, Y:80.00, Z:0.57 [[ 4.61007612e-01 -8.87393860e-01 -2.02958146e-03 1.56788424e+02] [ 8.87385835e-01 4.61012075e-01 -3.77443651e-03 8.00012989e+01] [ 4.28507334e-03 -6.09778792e-05 9.99990817e-01 5.72003427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.678623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:156.80, Y:80.02, Z:0.57 [[ 4.61331909e-01 -8.87225312e-01 -2.02859808e-03 1.56802314e+02] [ 8.87217283e-01 4.61336365e-01 -3.77496496e-03 8.00220538e+01] [ 4.28511053e-03 -5.82954826e-05 9.99990817e-01 5.71399678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.708623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.82, Y:80.04, Z:0.57 [[ 4.61690416e-01 -8.87038809e-01 -2.02757223e-03 1.56815679e+02] [ 8.87030776e-01 4.61694865e-01 -3.77551588e-03 8.00443227e+01] [ 4.28514879e-03 -5.53994669e-05 9.99990817e-01 5.71711714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.738623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:156.83, Y:80.07, Z:0.57 [[ 4.62005489e-01 -8.86874750e-01 -2.02656632e-03 1.56827685e+02] [ 8.86866713e-01 4.62009930e-01 -3.77605573e-03 8.00655019e+01] [ 4.28518225e-03 -5.27357384e-05 9.99990817e-01 5.71814550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.768623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:156.84, Y:80.09, Z:0.57 [[ 4.62538330e-01 -8.86596972e-01 -2.02552323e-03 1.56839633e+02] [ 8.86588930e-01 4.62542763e-01 -3.77661518e-03 8.00873179e+01] [ 4.28522669e-03 -4.89771905e-05 9.99990817e-01 5.71714482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.798623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:156.85, Y:80.11, Z:0.57 [[ 4.63253651e-01 -8.86223424e-01 -2.02449280e-03 1.56851857e+02] [ 8.86215375e-01 4.63258072e-01 -3.77716747e-03 8.01091823e+01] [ 4.28527692e-03 -4.43500225e-05 9.99990817e-01 5.73105563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.828623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:156.86, Y:80.13, Z:0.57 [[ 4.65152742e-01 -8.85228125e-01 -2.02348625e-03 1.56864657e+02] [ 8.85220065e-01 4.65157142e-01 -3.77770662e-03 8.01301533e+01] [ 4.28537122e-03 -3.40200400e-05 9.99990817e-01 5.73591693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.858623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:156.88, Y:80.15, Z:0.57 [[ 4.66012905e-01 -8.84775611e-01 -2.02244153e-03 1.56876563e+02] [ 8.84767544e-01 4.66017293e-01 -3.77826584e-03 8.01516950e+01] [ 4.28541019e-03 -2.86699851e-05 9.99990817e-01 5.73451589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.888623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.89, Y:80.17, Z:0.57 [[ 4.66669189e-01 -8.84429637e-01 -2.02141848e-03 1.56888496e+02] [ 8.84421564e-01 4.66673566e-01 -3.77881310e-03 8.01737592e+01] [ 4.28543687e-03 -2.43304438e-05 9.99990817e-01 5.73545584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.918623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:156.90, Y:80.20, Z:0.57 [[ 4.67209597e-01 -8.84144281e-01 -2.02042346e-03 1.56900494e+02] [ 8.84136204e-01 4.67213965e-01 -3.77934504e-03 8.01951932e+01] [ 4.28545636e-03 -2.05832605e-05 9.99990817e-01 5.72417070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.91, Y:80.22, Z:0.57 [[ 4.68174726e-01 -8.83633605e-01 -2.01938968e-03 1.56913515e+02] [ 8.83625521e-01 4.68179080e-01 -3.77989733e-03 8.02169421e+01] [ 4.28548031e-03 -1.47318683e-05 9.99990817e-01 5.72810630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.93, Y:80.24, Z:0.57 [[ 4.68539573e-01 -8.83440205e-01 -2.01839256e-03 1.56925576e+02] [ 8.83432116e-01 4.68543920e-01 -3.78042969e-03 8.02383906e+01] [ 4.28548915e-03 -1.18318975e-05 9.99990817e-01 5.72656801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00862385300002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:156.94, Y:80.26, Z:0.57 [[ 4.68796244e-01 -8.83304031e-01 -2.01735734e-03 1.56937489e+02] [ 8.83295939e-01 4.68800585e-01 -3.78098204e-03 8.02599744e+01] [ 4.28549498e-03 -9.41336384e-06 9.99990817e-01 5.72160600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03862385300002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:156.95, Y:80.28, Z:0.57 [[ 4.69150716e-01 -8.83115814e-01 -2.01632965e-03 1.56949455e+02] [ 8.83107717e-01 4.69155048e-01 -3.78153001e-03 8.02812557e+01] [ 4.28550019e-03 -6.52876224e-06 9.99990817e-01 5.72797288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:156.96, Y:80.30, Z:0.57 [[ 4.70437847e-01 -8.82430830e-01 -2.01535528e-03 1.56963072e+02] [ 8.82422725e-01 4.70442164e-01 -3.78204923e-03 8.03032413e+01] [ 4.28550494e-03 8.23802406e-07 9.99990817e-01 5.74121986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:156.97, Y:80.32, Z:0.57 [[ 4.71150687e-01 -8.82050436e-01 -2.01437661e-03 1.56974861e+02] [ 8.82042326e-01 4.71154993e-01 -3.78257041e-03 8.03245367e+01] [ 4.28550148e-03 5.39521847e-06 9.99990817e-01 5.73965404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:156.99, Y:80.35, Z:0.57 [[ 4.71879282e-01 -8.81660870e-01 -2.01336262e-03 1.56986963e+02] [ 8.81652753e-01 4.71883578e-01 -3.78311005e-03 8.03474610e+01] [ 4.28549286e-03 1.00845544e-05 9.99990817e-01 5.74277798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15862385300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:157.00, Y:80.37, Z:0.57 [[ 4.73679711e-01 -8.80694886e-01 -2.01238757e-03 1.56999647e+02] [ 8.80686758e-01 4.73683985e-01 -3.78362865e-03 8.03710870e+01] [ 4.28545817e-03 1.99450406e-05 9.99990817e-01 5.73572206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18862385300002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:157.01, Y:80.39, Z:0.57 [[ 4.74168038e-01 -8.80432068e-01 -2.01147396e-03 1.57010970e+02] [ 8.80423936e-01 4.74172304e-01 -3.78411429e-03 8.03935497e+01] [ 4.28544081e-03 2.33562282e-05 9.99990817e-01 5.72185219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21862385300003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:157.02, Y:80.42, Z:0.57 [[ 4.74739414e-01 -8.80124109e-01 -2.01052349e-03 1.57022676e+02] [ 8.80115972e-01 4.74743671e-01 -3.78461921e-03 8.04163059e+01] [ 4.28541791e-03 2.72140759e-05 9.99990817e-01 5.73116554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.03, Y:80.44, Z:0.57 [[ 4.75246059e-01 -8.79850638e-01 -2.00955182e-03 1.57033490e+02] [ 8.79842496e-01 4.75250307e-01 -3.78513507e-03 8.04382081e+01] [ 4.28539363e-03 3.07814364e-05 9.99990817e-01 5.72734588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:157.04, Y:80.46, Z:0.57 [[ 4.76551388e-01 -8.79144323e-01 -2.00854016e-03 1.57044496e+02] [ 8.79136173e-01 4.76555619e-01 -3.78567183e-03 8.04604475e+01] [ 4.28533299e-03 3.82868570e-05 9.99990817e-01 5.72109541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30862385300003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:157.06, Y:80.48, Z:0.57 [[ 4.76906439e-01 -8.78951772e-01 -2.00756574e-03 1.57055826e+02] [ 8.78943618e-01 4.76910663e-01 -3.78618850e-03 8.04836655e+01] [ 4.28530660e-03 4.11205818e-05 9.99990817e-01 5.72298280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.338623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:157.07, Y:80.51, Z:0.57 [[ 4.77463458e-01 -8.78649315e-01 -2.00663054e-03 1.57067098e+02] [ 8.78641157e-01 4.77467673e-01 -3.78668407e-03 8.05070988e+01] [ 4.28526858e-03 4.48950964e-05 9.99990817e-01 5.73352441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.368623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:157.08, Y:80.53, Z:0.57 [[ 4.77784424e-01 -8.78474827e-01 -2.00571007e-03 1.57077778e+02] [ 8.78466665e-01 4.77788631e-01 -3.78717156e-03 8.05297528e+01] [ 4.28524035e-03 4.75021442e-05 9.99990817e-01 5.71939346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.398623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:157.09, Y:80.55, Z:0.57 [[ 4.78139828e-01 -8.78281439e-01 -2.00474791e-03 1.57088221e+02] [ 8.78273273e-01 4.78144028e-01 -3.78768082e-03 8.05542937e+01] [ 4.28520800e-03 5.03245495e-05 9.99990817e-01 5.73630929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.428623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.10, Y:80.58, Z:0.57 [[ 4.77762223e-01 -8.78486905e-01 -2.00384068e-03 1.57098620e+02] [ 8.78478739e-01 4.77766423e-01 -3.78816072e-03 8.05769522e+01] [ 4.28521738e-03 4.95086563e-05 9.99990817e-01 5.74038123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.458623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:157.11, Y:80.60, Z:0.57 [[ 4.77064021e-01 -8.78866263e-01 -2.00289469e-03 1.57108743e+02] [ 8.78858098e-01 4.77068223e-01 -3.78866082e-03 8.05989584e+01] [ 4.28524359e-03 4.71735522e-05 9.99990817e-01 5.73964727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.488623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:157.12, Y:80.62, Z:0.58 [[ 4.75766798e-01 -8.79569182e-01 -2.00188447e-03 1.57118874e+02] [ 8.79561021e-01 4.75771008e-01 -3.78919453e-03 8.06227783e+01] [ 4.28529733e-03 4.19934022e-05 9.99990817e-01 5.78801892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.13, Y:80.65, Z:0.58 [[ 4.74686488e-01 -8.80152677e-01 -2.00092399e-03 1.57130985e+02] [ 8.80144519e-01 4.74690703e-01 -3.78970166e-03 8.06467157e+01] [ 4.28533607e-03 3.78178842e-05 9.99990817e-01 5.75805665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.14, Y:80.67, Z:0.58 [[ 4.74457930e-01 -8.80275907e-01 -2.00003098e-03 1.57142854e+02] [ 8.80267748e-01 4.74462144e-01 -3.79017289e-03 8.06698752e+01] [ 4.28533686e-03 3.77148105e-05 9.99990817e-01 5.75917012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.578623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.15, Y:80.69, Z:0.58 [[ 4.73374924e-01 -8.80858777e-01 -1.99904668e-03 1.57152909e+02] [ 8.80850621e-01 4.73379143e-01 -3.79069197e-03 8.06919248e+01] [ 4.28537129e-03 3.35570134e-05 9.99990817e-01 5.76657219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.608623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:157.16, Y:80.71, Z:0.58 [[ 4.72183085e-01 -8.81498237e-01 -1.99802302e-03 1.57163096e+02] [ 8.81490085e-01 4.72187311e-01 -3.79123144e-03 8.07146683e+01] [ 4.28540495e-03 2.89178749e-05 9.99990817e-01 5.76747733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.17, Y:80.74, Z:0.58 [[ 4.69697579e-01 -8.82825122e-01 -1.99700793e-03 1.57173898e+02] [ 8.82816980e-01 4.69701824e-01 -3.79176606e-03 8.07378872e+01] [ 4.28546460e-03 1.79908341e-05 9.99990817e-01 5.76929004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.668623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.19, Y:80.76, Z:0.58 [[ 4.68114561e-01 -8.83665533e-01 -1.99603113e-03 1.57185333e+02] [ 8.83657395e-01 4.68118816e-01 -3.79228019e-03 8.07599955e+01] [ 4.28548703e-03 1.14139033e-05 9.99990817e-01 5.77238827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.20, Y:80.78, Z:0.58 [[ 4.66366979e-01 -8.84589091e-01 -1.99501183e-03 1.57196614e+02] [ 8.84580960e-01 4.66371247e-01 -3.79281634e-03 8.07824093e+01] [ 4.28550011e-03 4.09482498e-06 9.99990817e-01 5.77915318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.21, Y:80.80, Z:0.58 [[ 4.63125413e-01 -8.86290514e-01 -1.99402880e-03 1.57207294e+02] [ 8.86282396e-01 4.63129706e-01 -3.79333309e-03 8.08047148e+01] [ 4.28548910e-03 -1.04836679e-05 9.99990817e-01 5.77207223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.22, Y:80.83, Z:0.58 [[ 4.61139870e-01 -8.87325221e-01 -1.99300494e-03 1.57218816e+02] [ 8.87317111e-01 4.61144176e-01 -3.79387094e-03 8.08270091e+01] [ 4.28546000e-03 -1.89222375e-05 9.99990817e-01 5.77559783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78862385300002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:157.23, Y:80.85, Z:0.58 [[ 4.59053852e-01 -8.88406210e-01 -1.99202936e-03 1.57230244e+02] [ 8.88398107e-01 4.59058173e-01 -3.79438312e-03 8.08487631e+01] [ 4.28541088e-03 -2.78889249e-05 9.99990817e-01 5.78034731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:157.24, Y:80.87, Z:0.58 [[ 4.57014709e-01 -8.89456908e-01 -1.99101090e-03 1.57242727e+02] [ 8.89448813e-01 4.57019045e-01 -3.79491745e-03 8.08711434e+01] [ 4.28534544e-03 -3.65691850e-05 9.99990817e-01 5.79337492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.26, Y:80.89, Z:0.58 [[ 4.53485925e-01 -8.91261216e-01 -1.99005505e-03 1.57256215e+02] [ 8.91253136e-01 4.53490289e-01 -3.79541864e-03 8.08927185e+01] [ 4.28518007e-03 -5.24738669e-05 9.99990817e-01 5.80666436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.27, Y:80.92, Z:0.58 [[ 4.51659111e-01 -8.92188372e-01 -1.98908892e-03 1.57269127e+02] [ 8.92180299e-01 4.51663487e-01 -3.79592489e-03 8.09152768e+01] [ 4.28507889e-03 -6.01618873e-05 9.99990817e-01 5.80586032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.28, Y:80.94, Z:0.58 [[ 4.50006205e-01 -8.93023215e-01 -1.98812401e-03 1.57282513e+02] [ 8.93015148e-01 4.50010591e-01 -3.79643020e-03 8.09376263e+01] [ 4.28497717e-03 -6.70077129e-05 9.99990817e-01 5.79619693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.30, Y:80.96, Z:0.58 [[ 4.47949301e-01 -8.94056751e-01 -1.98715849e-03 1.57296171e+02] [ 8.94048692e-01 4.47953703e-01 -3.79693552e-03 8.09583903e+01] [ 4.28483083e-03 -7.57818332e-05 9.99990817e-01 5.77596511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:157.31, Y:80.98, Z:0.58 [[ 4.47172186e-01 -8.94445689e-01 -1.98633857e-03 1.57309238e+02] [ 8.94437632e-01 4.47176590e-01 -3.79736440e-03 8.09807673e+01] [ 4.28478033e-03 -7.85802327e-05 9.99990817e-01 5.76947458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.32, Y:81.00, Z:0.58 [[ 4.46353101e-01 -8.94854719e-01 -1.98538388e-03 1.57322320e+02] [ 8.94846663e-01 4.46357509e-01 -3.79786347e-03 8.10026423e+01] [ 4.28472706e-03 -8.14260062e-05 9.99990817e-01 5.77052391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.34, Y:81.02, Z:0.58 [[ 4.46019036e-01 -8.95021274e-01 -1.98442907e-03 1.57335883e+02] [ 8.95013218e-01 4.46023443e-01 -3.79836231e-03 8.10240962e+01] [ 4.28471696e-03 -8.19483491e-05 9.99990817e-01 5.76892527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:81.04, Z:0.58 [[ 4.45668268e-01 -8.95195990e-01 -1.98348310e-03 1.57350891e+02] [ 8.95187933e-01 4.45672674e-01 -3.79885623e-03 8.10438621e+01] [ 4.28470508e-03 -8.25604663e-05 9.99990817e-01 5.76952503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.36, Y:81.06, Z:0.58 [[ 4.45577919e-01 -8.95240966e-01 -1.98249724e-03 1.57363599e+02] [ 8.95232908e-01 4.45582322e-01 -3.79937065e-03 8.10645767e+01] [ 4.28471797e-03 -8.18811010e-05 9.99990817e-01 5.77404748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.118623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:157.38, Y:81.09, Z:0.59 [[ 4.46154227e-01 -8.94953898e-01 -1.98152031e-03 1.57376538e+02] [ 8.94945834e-01 4.46158620e-01 -3.79988008e-03 8.10860723e+01] [ 4.28478986e-03 -7.80207915e-05 9.99990817e-01 5.86761064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.39, Y:81.11, Z:0.58 [[ 4.45945923e-01 -8.95057714e-01 -1.98058813e-03 1.57391495e+02] [ 8.95049649e-01 4.45950315e-01 -3.80036589e-03 8.11074052e+01] [ 4.28479071e-03 -7.79670353e-05 9.99990817e-01 5.78312174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.41, Y:81.13, Z:0.58 [[ 4.47130697e-01 -8.94466445e-01 -1.97965900e-03 1.57406959e+02] [ 8.94458372e-01 4.47135074e-01 -3.80084983e-03 8.11268907e+01] [ 4.28490761e-03 -7.12459298e-05 9.99990817e-01 5.77454148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:81.15, Z:0.58 [[ 4.47828749e-01 -8.94117160e-01 -1.97869207e-03 1.57419598e+02] [ 8.94109082e-01 4.47833116e-01 -3.80135314e-03 8.11474861e+01] [ 4.28497891e-03 -6.68113235e-05 9.99990817e-01 5.77641122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.238623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.43, Y:81.17, Z:0.58 [[ 4.49292263e-01 -8.93382645e-01 -1.97765355e-03 1.57434127e+02] [ 8.93374558e-01 4.49296612e-01 -3.80189335e-03 8.11667176e+01] [ 4.28509858e-03 -5.86240943e-05 9.99990817e-01 5.79170324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.268623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:157.45, Y:81.19, Z:0.58 [[ 4.49915083e-01 -8.93069152e-01 -1.97662006e-03 1.57447299e+02] [ 8.93061059e-01 4.49919422e-01 -3.80243059e-03 8.11879904e+01] [ 4.28515322e-03 -5.44715292e-05 9.99990817e-01 5.79168062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.298623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.46, Y:81.21, Z:0.58 [[ 4.50703059e-01 -8.92671748e-01 -1.97563458e-03 1.57461064e+02] [ 8.92663648e-01 4.50707387e-01 -3.80294255e-03 8.12092633e+01] [ 4.28521247e-03 -4.95793352e-05 9.99990817e-01 5.80222266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.328623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.47, Y:81.23, Z:0.58 [[ 4.51284572e-01 -8.92377911e-01 -1.97466911e-03 1.57474990e+02] [ 8.92369807e-01 4.51288889e-01 -3.80344380e-03 8.12313324e+01] [ 4.28525547e-03 -4.56995858e-05 9.99990817e-01 5.80767308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.49, Y:81.25, Z:0.58 [[ 4.52021481e-01 -8.92004868e-01 -1.97370417e-03 1.57488229e+02] [ 8.91996758e-01 4.52025788e-01 -3.80394447e-03 8.12520649e+01] [ 4.28530217e-03 -4.10731138e-05 9.99990817e-01 5.79553464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.388623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.50, Y:81.27, Z:0.58 [[ 4.53632621e-01 -8.91186599e-01 -1.97270279e-03 1.57502479e+02] [ 8.91178479e-01 4.53636909e-01 -3.80446371e-03 8.12712632e+01] [ 4.28537787e-03 -3.22014335e-05 9.99990817e-01 5.79522219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.52, Y:81.29, Z:0.58 [[ 4.54356531e-01 -8.90817745e-01 -1.97169320e-03 1.57515789e+02] [ 8.90809619e-01 4.54360808e-01 -3.80498687e-03 8.12933262e+01] [ 4.28540993e-03 -2.75826308e-05 9.99990817e-01 5.80944192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.53, Y:81.31, Z:0.58 [[ 4.54991832e-01 -8.90493430e-01 -1.97075047e-03 1.57529014e+02] [ 8.90485299e-01 4.54996099e-01 -3.80547508e-03 8.13147663e+01] [ 4.28543433e-03 -2.34642495e-05 9.99990817e-01 5.80782360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.54, Y:81.34, Z:0.58 [[ 4.55604895e-01 -8.90179925e-01 -1.96981006e-03 1.57542176e+02] [ 8.90171789e-01 4.55609153e-01 -3.80596180e-03 8.13358146e+01] [ 4.28545428e-03 -1.94545177e-05 9.99990817e-01 5.79027131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.56, Y:81.35, Z:0.58 [[ 4.57007511e-01 -8.89460656e-01 -1.96883079e-03 1.57557318e+02] [ 8.89452511e-01 4.57011752e-01 -3.80646831e-03 8.13544942e+01] [ 4.28548261e-03 -1.15968830e-05 9.99990817e-01 5.78599674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.57, Y:81.38, Z:0.58 [[ 4.57605153e-01 -8.89153334e-01 -1.96784048e-03 1.57571248e+02] [ 8.89145184e-01 4.57609384e-01 -3.80698020e-03 8.13765518e+01] [ 4.28549141e-03 -7.60213286e-06 9.99990817e-01 5.79648463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:157.58, Y:81.40, Z:0.58 [[ 4.58118112e-01 -8.88889153e-01 -1.96691367e-03 1.57583857e+02] [ 8.88880999e-01 4.58122334e-01 -3.80745899e-03 8.13977970e+01] [ 4.28549608e-03 -4.08626342e-06 9.99990817e-01 5.77008642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.60, Y:81.42, Z:0.58 [[ 4.58800974e-01 -8.88536888e-01 -1.96595075e-03 1.57596419e+02] [ 8.88528728e-01 4.58805186e-01 -3.80795612e-03 8.14199449e+01] [ 4.28549788e-03 2.90255412e-07 9.99990817e-01 5.78175104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.61, Y:81.44, Z:0.58 [[ 4.60519143e-01 -8.87647598e-01 -1.96503301e-03 1.57610472e+02] [ 8.87639428e-01 4.60523335e-01 -3.80842964e-03 8.14405827e+01] [ 4.28548698e-03 9.61397931e-06 9.99990817e-01 5.78086307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:157.62, Y:81.46, Z:0.58 [[ 4.61281865e-01 -8.87251477e-01 -1.96408236e-03 1.57623680e+02] [ 8.87243301e-01 4.61286046e-01 -3.80891985e-03 8.14628288e+01] [ 4.28547355e-03 1.43667407e-05 9.99990817e-01 5.80212015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68862385300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:157.64, Y:81.49, Z:0.58 [[ 4.61704728e-01 -8.87031504e-01 -1.96317517e-03 1.57636868e+02] [ 8.87023325e-01 4.61708902e-01 -3.80938737e-03 8.14851218e+01] [ 4.28546206e-03 1.74299899e-05 9.99990817e-01 5.83716893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.65, Y:81.51, Z:0.58 [[ 4.62407845e-01 -8.86665176e-01 -1.96218300e-03 1.57650518e+02] [ 8.86656991e-01 4.62412007e-01 -3.80989836e-03 8.15070658e+01] [ 4.28544118e-03 2.19436139e-05 9.99990817e-01 5.83376764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:157.66, Y:81.53, Z:0.58 [[ 4.63585873e-01 -8.86049825e-01 -1.96119444e-03 1.57664764e+02] [ 8.86041632e-01 4.63590020e-01 -3.81040717e-03 8.15271530e+01] [ 4.28540077e-03 2.87510098e-05 9.99990817e-01 5.83684869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.68, Y:81.55, Z:0.58 [[ 4.63986753e-01 -8.85839969e-01 -1.96017148e-03 1.57677040e+02] [ 8.85831772e-01 4.63990892e-01 -3.81093333e-03 8.15492983e+01] [ 4.28537878e-03 3.18404019e-05 9.99990817e-01 5.83961905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.69, Y:81.57, Z:0.58 [[ 4.64335579e-01 -8.85657175e-01 -1.95919394e-03 1.57689356e+02] [ 8.85648975e-01 4.64339711e-01 -3.81143582e-03 8.15719591e+01] [ 4.28535703e-03 3.46271524e-05 9.99990817e-01 5.83223665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.838623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.70, Y:81.59, Z:0.58 [[ 4.64790197e-01 -8.85418680e-01 -1.95819420e-03 1.57702332e+02] [ 8.85410475e-01 4.64794320e-01 -3.81194938e-03 8.15942614e+01] [ 4.28532873e-03 3.79510520e-05 9.99990817e-01 5.82774281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.71, Y:81.62, Z:0.58 [[ 4.65018409e-01 -8.85298847e-01 -1.95718954e-03 1.57714369e+02] [ 8.85290639e-01 4.65022526e-01 -3.81246514e-03 8.16159888e+01] [ 4.28530822e-03 4.01848902e-05 9.99990817e-01 5.82477481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.898623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.73, Y:81.64, Z:0.58 [[ 4.65233562e-01 -8.85185803e-01 -1.95614365e-03 1.57726710e+02] [ 8.85177592e-01 4.65237673e-01 -3.81300170e-03 8.16387594e+01] [ 4.28528669e-03 4.24018377e-05 9.99990817e-01 5.82496247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.928623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.74, Y:81.66, Z:0.58 [[ 4.66343973e-01 -8.84601309e-01 -1.95514662e-03 1.57738777e+02] [ 8.84593091e-01 4.66348069e-01 -3.81351287e-03 8.16599963e+01] [ 4.28521733e-03 4.88995538e-05 9.99990817e-01 5.81700309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.75, Y:81.68, Z:0.58 [[ 4.66993615e-01 -8.84258528e-01 -1.95429989e-03 1.57750129e+02] [ 8.84250305e-01 4.66997701e-01 -3.81394674e-03 8.16830076e+01] [ 4.28516849e-03 5.29984996e-05 9.99990817e-01 5.82939610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.988623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:157.76, Y:81.71, Z:0.59 [[ 4.67784748e-01 -8.83840265e-01 -1.95331689e-03 1.57759736e+02] [ 8.83832036e-01 4.67788823e-01 -3.81445012e-03 8.17062600e+01] [ 4.28510441e-03 5.79375413e-05 9.99990817e-01 5.91737986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.018623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.77, Y:81.73, Z:0.58 [[ 4.68611680e-01 -8.83402107e-01 -1.95233670e-03 1.57771509e+02] [ 8.83393871e-01 4.68615743e-01 -3.81495174e-03 8.17291312e+01] [ 4.28503212e-03 6.30486667e-05 9.99990817e-01 5.82795632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.048623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:157.78, Y:81.75, Z:0.58 [[ 4.69448537e-01 -8.82957679e-01 -1.95136475e-03 1.57782094e+02] [ 8.82949438e-01 4.69452588e-01 -3.81544883e-03 8.17525127e+01] [ 4.28495308e-03 6.82004611e-05 9.99990817e-01 5.82453920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.078623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.79, Y:81.77, Z:0.58 [[ 4.69301992e-01 -8.83035580e-01 -1.95039421e-03 1.57792800e+02] [ 8.83027338e-01 4.69306040e-01 -3.81594489e-03 8.17740670e+01] [ 4.28494689e-03 6.85791355e-05 9.99990817e-01 5.82159612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.108623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.80, Y:81.80, Z:0.58 [[ 4.68963383e-01 -8.83215458e-01 -1.94938348e-03 1.57803148e+02] [ 8.83207215e-01 4.68967430e-01 -3.81646115e-03 8.17959311e+01] [ 4.28495485e-03 6.80709781e-05 9.99990817e-01 5.82454693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.138623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.81, Y:81.82, Z:0.58 [[ 4.68338029e-01 -8.83547222e-01 -1.94838511e-03 1.57814099e+02] [ 8.83538980e-01 4.68342078e-01 -3.81697077e-03 8.18192403e+01] [ 4.28498466e-03 6.61583734e-05 9.99990817e-01 5.82761761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.168623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.82, Y:81.84, Z:0.58 [[ 4.67140021e-01 -8.84181208e-01 -1.94743068e-03 1.57824845e+02] [ 8.84172969e-01 4.67144076e-01 -3.81745767e-03 8.18415406e+01] [ 4.28505504e-03 6.14216888e-05 9.99990817e-01 5.82655619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19862385300002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:157.84, Y:81.86, Z:0.58 [[ 4.66295961e-01 -8.84626638e-01 -1.94643742e-03 1.57835918e+02] [ 8.84618401e-01 4.66300019e-01 -3.81796404e-03 8.18646311e+01] [ 4.28509650e-03 5.84468533e-05 9.99990817e-01 5.82345523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:157.85, Y:81.89, Z:0.58 [[ 4.65555548e-01 -8.85016524e-01 -1.94549806e-03 1.57846753e+02] [ 8.85008288e-01 4.65559609e-01 -3.81844265e-03 8.18881765e+01] [ 4.28513015e-03 5.59152555e-05 9.99990817e-01 5.82108803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:157.86, Y:81.91, Z:0.58 [[ 4.64418601e-01 -8.85613675e-01 -1.94456018e-03 1.57857262e+02] [ 8.85605443e-01 4.64422669e-01 -3.81892021e-03 8.19116033e+01] [ 4.28518579e-03 5.14645026e-05 9.99990817e-01 5.81721711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.87, Y:81.93, Z:0.58 [[ 4.64017162e-01 -8.85824077e-01 -1.94362395e-03 1.57868363e+02] [ 8.85815844e-01 4.64021230e-01 -3.81939664e-03 8.19349483e+01] [ 4.28519628e-03 5.05726967e-05 9.99990817e-01 5.82043069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:81.96, Z:0.58 [[ 4.63285356e-01 -8.86207033e-01 -1.94268813e-03 1.57879097e+02] [ 8.86198801e-01 4.63289427e-01 -3.81987257e-03 8.19586795e+01] [ 4.28522481e-03 4.80831335e-05 9.99990817e-01 5.83121580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.89, Y:81.98, Z:0.58 [[ 4.63055528e-01 -8.86327145e-01 -1.94175547e-03 1.57889376e+02] [ 8.86318913e-01 4.63059596e-01 -3.82034661e-03 8.19812220e+01] [ 4.28522541e-03 4.80180197e-05 9.99990817e-01 5.83421037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.90, Y:82.00, Z:0.58 [[ 4.61921887e-01 -8.86918488e-01 -1.94078358e-03 1.57899175e+02] [ 8.86910259e-01 4.61925962e-01 -3.82084028e-03 8.20039759e+01] [ 4.28527220e-03 4.36288838e-05 9.99990817e-01 5.83128981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.91, Y:82.03, Z:0.59 [[ 4.61157425e-01 -8.87316216e-01 -1.93982266e-03 1.57910627e+02] [ 8.87307988e-01 4.61161503e-01 -3.82132807e-03 8.20277691e+01] [ 4.28529790e-03 4.10136722e-05 9.99990817e-01 5.85362631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.92, Y:82.05, Z:0.58 [[ 4.60273374e-01 -8.87775119e-01 -1.93890503e-03 1.57921013e+02] [ 8.87766894e-01 4.60277456e-01 -3.82179361e-03 8.20499873e+01] [ 4.28532755e-03 3.77741441e-05 9.99990817e-01 5.84951857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.93, Y:82.07, Z:0.59 [[ 4.60040785e-01 -8.87895669e-01 -1.93804637e-03 1.57932520e+02] [ 8.87887443e-01 4.60044866e-01 -3.82222899e-03 8.20733514e+01] [ 4.28532885e-03 3.76141960e-05 9.99990817e-01 5.85063224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.94, Y:82.10, Z:0.58 [[ 4.59364177e-01 -8.88245912e-01 -1.93704490e-03 1.57943294e+02] [ 8.88237687e-01 4.59368260e-01 -3.82273645e-03 8.20952247e+01] [ 4.28534697e-03 3.54718980e-05 9.99990817e-01 5.84673633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.95, Y:82.12, Z:0.59 [[ 4.58120836e-01 -8.88887817e-01 -1.93600347e-03 1.57952373e+02] [ 8.88879596e-01 4.58124925e-01 -3.82326381e-03 8.21175953e+01] [ 4.28538407e-03 3.06428314e-05 9.99990817e-01 5.86592557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:157.96, Y:82.14, Z:0.59 [[ 4.57630376e-01 -8.89140425e-01 -1.93501430e-03 1.57963035e+02] [ 8.89132203e-01 4.57634466e-01 -3.82376437e-03 8.21412407e+01] [ 4.28539272e-03 2.93871955e-05 9.99990817e-01 5.87861303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.588623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:157.97, Y:82.16, Z:0.59 [[ 4.56898080e-01 -8.89516950e-01 -1.93402574e-03 1.57973523e+02] [ 8.89508729e-01 4.56902173e-01 -3.82426432e-03 8.21645293e+01] [ 4.28540849e-03 2.69662490e-05 9.99990817e-01 5.87986297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.618623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.98, Y:82.19, Z:0.59 [[ 4.56226948e-01 -8.89861357e-01 -1.93302172e-03 1.57984168e+02] [ 8.89853138e-01 4.56231042e-01 -3.82477174e-03 8.21871939e+01] [ 4.28542109e-03 2.48584983e-05 9.99990817e-01 5.87594456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.648623853 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:157.99, Y:82.21, Z:0.59 [[ 4.55476910e-01 -8.90245501e-01 -1.93197784e-03 1.57994145e+02] [ 8.90237283e-01 4.55481007e-01 -3.82529896e-03 8.22092072e+01] [ 4.28543440e-03 2.24166508e-05 9.99990817e-01 5.87256273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.678623853 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:158.00, Y:82.23, Z:0.59 [[ 4.55124644e-01 -8.90425645e-01 -1.93113680e-03 1.58004792e+02] [ 8.90417427e-01 4.55128740e-01 -3.82572350e-03 8.22327839e+01] [ 4.28543817e-03 2.16631882e-05 9.99990817e-01 5.88454447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.708623853 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:158.02, Y:82.26, Z:0.59 [[ 4.54836610e-01 -8.90572812e-01 -1.93013128e-03 1.58015016e+02] [ 8.90564592e-01 4.54840705e-01 -3.82623073e-03 8.22556001e+01] [ 4.28543933e-03 2.14032403e-05 9.99990817e-01 5.87099308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.738623853 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:158.02, Y:82.28, Z:0.59 [[ 4.54693242e-01 -8.90646021e-01 -1.92908065e-03 1.58024732e+02] [ 8.90637800e-01 4.54697334e-01 -3.82676035e-03 8.22787683e+01] [ 4.28543671e-03 2.18899238e-05 9.99990817e-01 5.87374826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.768623853 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:158.03, Y:82.30, Z:0.59 [[ 4.54719093e-01 -8.90632825e-01 -1.92809023e-03 1.58034254e+02] [ 8.90624602e-01 4.54723180e-01 -3.82725930e-03 8.23013785e+01] [ 4.28543009e-03 2.31232869e-05 9.99990817e-01 5.86513052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.798623853 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:158.04, Y:82.32, Z:0.59 [[ 4.54622988e-01 -8.90681888e-01 -1.92706112e-03 1.58043352e+02] [ 8.90673663e-01 4.54627072e-01 -3.82777740e-03 8.23239035e+01] [ 4.28542615e-03 2.38130154e-05 9.99990817e-01 5.86296014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.828623853 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:158.05, Y:82.35, Z:0.59 [[ 4.54561269e-01 -8.90713390e-01 -1.92606775e-03 1.58052862e+02] [ 8.90705163e-01 4.54565349e-01 -3.82827718e-03 8.23471535e+01] [ 4.28542140e-03 2.46280423e-05 9.99990817e-01 5.87832662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.858623853 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:158.06, Y:82.37, Z:0.59 [[ 4.54349866e-01 -8.90821247e-01 -1.92507960e-03 1.58061536e+02] [ 8.90813019e-01 4.54353943e-01 -3.82877401e-03 8.23705243e+01] [ 4.28542075e-03 2.47169905e-05 9.99990817e-01 5.90755472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.888623853 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:158.07, Y:82.39, Z:0.59 [[ 4.54059552e-01 -8.90969260e-01 -1.92405486e-03 1.58072114e+02] [ 8.90961031e-01 4.54063628e-01 -3.82928890e-03 8.23934776e+01] [ 4.28542203e-03 2.44673004e-05 9.99990817e-01 5.86521430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.918623853 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:158.08, Y:82.42, Z:0.59 [[ 4.53694010e-01 -8.91155456e-01 -1.92306645e-03 1.58081291e+02] [ 8.91147227e-01 4.53698085e-01 -3.82978522e-03 8.24178265e+01] [ 4.28542556e-03 2.38152776e-05 9.99990817e-01 5.90751268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94862385300002 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:158.09, Y:82.44, Z:0.58 [[ 4.53489164e-01 -8.91259718e-01 -1.92206412e-03 1.58091044e+02] [ 8.91251487e-01 4.53493236e-01 -3.83028819e-03 8.24402731e+01] [ 4.28542465e-03 2.39516852e-05 9.99990817e-01 5.84770612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97862385300002 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:158.10, Y:82.46, Z:0.58 [[ 4.53519858e-01 -8.91244101e-01 -1.92102304e-03 1.58099747e+02] [ 8.91235869e-01 4.53523926e-01 -3.83081026e-03 8.24639909e+01] [ 4.28541696e-03 2.52638906e-05 9.99990817e-01 5.84810190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00862385300002 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:158.11, Y:82.49, Z:0.58 [[ 4.53427892e-01 -8.91290895e-01 -1.92006217e-03 1.58108935e+02] [ 8.91282661e-01 4.53431957e-01 -3.83129180e-03 8.24870696e+01] [ 4.28541305e-03 2.58964502e-05 9.99990817e-01 5.84231306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03862385300002 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:158.12, Y:82.51, Z:0.59 [[ 4.53978064e-01 -8.91010793e-01 -1.91924077e-03 1.58116634e+02] [ 8.91002555e-01 4.53982120e-01 -3.83170323e-03 8.25115227e+01] [ 4.28538993e-03 2.94607886e-05 9.99990817e-01 5.85840568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06862385300002 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:158.13, Y:82.54, Z:0.59 [[ 4.54252087e-01 -8.90871125e-01 -1.91828597e-03 1.58125639e+02] [ 8.90862883e-01 4.54256136e-01 -3.83218118e-03 8.25351251e+01] [ 4.28537273e-03 3.18465301e-05 9.99990817e-01 5.87391051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09862385300002 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:158.13, Y:82.56, Z:0.59 [[ 4.54508211e-01 -8.90740484e-01 -1.91730160e-03 1.58133968e+02] [ 8.90732239e-01 4.54512254e-01 -3.83267361e-03 8.25580436e+01] [ 4.28535462e-03 3.41792747e-05 9.99990817e-01 5.87788650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12862385300002 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:158.14, Y:82.58, Z:0.59 [[ 4.54425454e-01 -8.90782709e-01 -1.91628036e-03 1.58142905e+02] [ 8.90774462e-01 4.54429493e-01 -3.83318415e-03 8.25825032e+01] [ 4.28534847e-03 3.49228369e-05 9.99990817e-01 5.89744655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15862385300002 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:158.15, Y:82.61, Z:0.59 [[ 4.54355485e-01 -8.90818402e-01 -1.91533703e-03 1.58151884e+02] [ 8.90810154e-01 4.54359520e-01 -3.83365545e-03 8.26063527e+01] [ 4.28534243e-03 3.56407056e-05 9.99990817e-01 5.88395969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18862385300002 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:158.16, Y:82.63, Z:0.59 [[ 4.53690966e-01 -8.91157025e-01 -1.91435194e-03 1.58158278e+02] [ 8.91148777e-01 4.53695004e-01 -3.83414729e-03 8.26308661e+01] [ 4.28535920e-03 3.35455957e-05 9.99990817e-01 5.87880880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21862385300003 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:158.17, Y:82.66, Z:0.59 [[ 4.52815264e-01 -8.91602308e-01 -1.91331841e-03 1.58167454e+02] [ 8.91594063e-01 4.52819305e-01 -3.83466297e-03 8.26551956e+01] [ 4.28538187e-03 3.04905859e-05 9.99990817e-01 5.89287297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24862385300003 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:158.18, Y:82.68, Z:0.59 [[ 4.52058039e-01 -8.91986475e-01 -1.91238838e-03 1.58176594e+02] [ 8.91978231e-01 4.52062084e-01 -3.83512673e-03 8.26787027e+01] [ 4.28539945e-03 2.78910706e-05 9.99990817e-01 5.87841197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27862385300003 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:158.18, Y:82.70, Z:0.59 [[ 4.50264625e-01 -8.92893114e-01 -1.91164874e-03 1.58183113e+02] [ 8.92884877e-01 4.50268682e-01 -3.83549538e-03 8.27042762e+01] [ 4.28544297e-03 2.01056381e-05 9.99990817e-01 5.89024381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30862385300003 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:158.19, Y:82.73, Z:0.60 [[ 4.49142997e-01 -8.93457843e-01 -1.91065485e-03 1.58190991e+02] [ 8.93449609e-01 4.49147060e-01 -3.83599042e-03 8.27292534e+01] [ 4.28546074e-03 1.58344024e-05 9.99990817e-01 5.96641830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.338623853 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:158.20, Y:82.75, Z:0.59 [[ 4.47705265e-01 -8.94179148e-01 -1.90964612e-03 1.58200089e+02] [ 8.94170918e-01 4.47709337e-01 -3.83649253e-03 8.27517642e+01] [ 4.28547802e-03 1.00678812e-05 9.99990817e-01 5.89547312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.368623853 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:158.21, Y:82.78, Z:0.59 [[ 4.45980858e-01 -8.95040464e-01 -1.90864598e-03 1.58209170e+02] [ 8.95032239e-01 4.45984942e-01 -3.83699002e-03 8.27753065e+01] [ 4.28548870e-03 2.92441254e-06 9.99990817e-01 5.89753907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.398623853 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:158.22, Y:82.80, Z:0.59 [[ 4.41978093e-01 -8.97023816e-01 -1.90764137e-03 1.58217440e+02] [ 8.97015608e-01 4.41982209e-01 -3.83748942e-03 8.27985760e+01] [ 4.28546296e-03 -1.50978305e-05 9.99990817e-01 5.88978315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.428623853 meters Centerline goodness : 0.998029 Centerline is valid? [True, True] Translation: X:158.23, Y:82.82, Z:0.59 [[ 4.39523215e-01 -8.98229207e-01 -1.90660136e-03 1.58227394e+02] [ 8.98221008e-01 4.39527349e-01 -3.83800607e-03 8.28226365e+01] [ 4.28541259e-03 -2.56566291e-05 9.99990817e-01 5.88683507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.458623853 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:158.24, Y:82.85, Z:0.59 [[ 4.37120756e-01 -8.99400808e-01 -1.90560752e-03 1.58236473e+02] [ 8.99392617e-01 4.37124908e-01 -3.83849946e-03 8.28452216e+01] [ 4.28533803e-03 -3.60015523e-05 9.99990817e-01 5.88843142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.488623853 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:158.25, Y:82.87, Z:0.59 [[ 4.34842626e-01 -9.00504450e-01 -1.90457056e-03 1.58246404e+02] [ 9.00496267e-01 4.34846794e-01 -3.83901391e-03 8.28690326e+01] [ 4.28524550e-03 -4.56917900e-05 9.99990817e-01 5.89486073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.518623853 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:158.25, Y:82.89, Z:0.59 [[ 4.30528507e-01 -9.02574973e-01 -1.90355486e-03 1.58254616e+02] [ 9.02566808e-01 4.30532710e-01 -3.83951747e-03 8.28921863e+01] [ 4.28499501e-03 -6.50637074e-05 9.99990817e-01 5.89521953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.548623853 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:158.26, Y:82.92, Z:0.59 [[ 4.28506053e-01 -9.03536907e-01 -1.90254181e-03 1.58264754e+02] [ 9.03528750e-01 4.28510270e-01 -3.84001938e-03 8.29156137e+01] [ 4.28485794e-03 -7.35296787e-05 9.99990817e-01 5.90872626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.578623853 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:158.27, Y:82.94, Z:0.59 [[ 4.25527357e-01 -9.04943563e-01 -1.90154477e-03 1.58274458e+02] [ 9.04935418e-01 4.25531597e-01 -3.84051305e-03 8.29392786e+01] [ 4.28461494e-03 -8.65318429e-05 9.99990817e-01 5.91883224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.608623853 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:158.29, Y:82.96, Z:0.59 [[ 4.24101422e-01 -9.05612705e-01 -1.90054236e-03 1.58285151e+02] [ 9.05604564e-01 4.24105670e-01 -3.84100904e-03 8.29624138e+01] [ 4.28449738e-03 -9.21624456e-05 9.99990817e-01 5.91936320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.638623853 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:158.30, Y:82.98, Z:0.59 [[ 4.22625887e-01 -9.06302241e-01 -1.89953995e-03 1.58295966e+02] [ 9.06294104e-01 4.22630145e-01 -3.84150471e-03 8.29848489e+01] [ 4.28436717e-03 -9.80225231e-05 9.99990817e-01 5.91152229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.668623853 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:158.31, Y:83.01, Z:0.59 [[ 4.21392053e-01 -9.06876581e-01 -1.89849372e-03 1.58307506e+02] [ 9.06868448e-01 4.21396317e-01 -3.84202169e-03 8.30080311e+01] [ 4.28425776e-03 -1.02686650e-04 9.99990817e-01 5.92018851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69862385300002 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:158.32, Y:83.03, Z:0.59 [[ 4.19460603e-01 -9.07771558e-01 -1.89748176e-03 1.58317938e+02] [ 9.07763432e-01 4.19464881e-01 -3.84252141e-03 8.30304686e+01] [ 4.28405861e-03 -1.10678200e-04 9.99990817e-01 5.90385691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72862385300002 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:158.33, Y:83.05, Z:0.59 [[ 4.19005106e-01 -9.07981897e-01 -1.89642901e-03 1.58328889e+02] [ 9.07973771e-01 4.19009383e-01 -3.84304092e-03 8.30533229e+01] [ 4.28403313e-03 -1.11654030e-04 9.99990817e-01 5.89650352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75862385300002 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:158.34, Y:83.08, Z:0.60 [[ 4.18747789e-01 -9.08100598e-01 -1.89548175e-03 1.58338877e+02] [ 9.08092471e-01 4.18752064e-01 -3.84350807e-03 8.30763793e+01] [ 4.28402887e-03 -1.11812204e-04 9.99990817e-01 5.98897639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78862385300002 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:158.35, Y:83.10, Z:0.59 [[ 4.18670001e-01 -9.08136466e-01 -1.89448987e-03 1.58350667e+02] [ 9.08128337e-01 4.18674273e-01 -3.84399691e-03 8.30974772e+01] [ 4.28404794e-03 -1.11073740e-04 9.99990817e-01 5.89534951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81862385300002 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:158.36, Y:83.12, Z:0.59 [[ 4.19687844e-01 -9.07666529e-01 -1.89345605e-03 1.58361754e+02] [ 9.07658394e-01 4.19692102e-01 -3.84450607e-03 8.31197721e+01] [ 4.28419804e-03 -1.05118814e-04 9.99990817e-01 5.89589022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84862385300002 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:158.37, Y:83.14, Z:0.59 [[ 4.20532027e-01 -9.07275721e-01 -1.89243457e-03 1.58372564e+02] [ 9.07267579e-01 4.20536273e-01 -3.84500883e-03 8.31421233e+01] [ 4.28432054e-03 -9.99951782e-05 9.99990817e-01 5.90457941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87862385300002 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:158.38, Y:83.16, Z:0.59 [[ 4.21585774e-01 -9.06786555e-01 -1.89160572e-03 1.58383323e+02] [ 9.06778406e-01 4.21590008e-01 -3.84541655e-03 8.31649410e+01] [ 4.28445410e-03 -9.40943080e-05 9.99990817e-01 5.90554438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90862385300002 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:158.40, Y:83.19, Z:0.59 [[ 4.24454585e-01 -9.05447255e-01 -1.89063896e-03 1.58395066e+02] [ 9.05439090e-01 4.24458788e-01 -3.84589181e-03 8.31873282e+01] [ 4.28475050e-03 -7.94520056e-05 9.99990817e-01 5.92553800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93862385300002 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:158.41, Y:83.21, Z:0.59 [[ 4.25752057e-01 -9.04837894e-01 -1.88963090e-03 1.58406332e+02] [ 9.04829722e-01 4.25756245e-01 -3.84638704e-03 8.32086012e+01] [ 4.28487891e-03 -7.21870075e-05 9.99990817e-01 5.92353187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96862385300003 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:158.42, Y:83.23, Z:0.59 [[ 4.27030784e-01 -9.04235114e-01 -1.88876996e-03 1.58417118e+02] [ 9.04226934e-01 4.27034957e-01 -3.84680976e-03 8.32306741e+01] [ 4.28499126e-03 -6.51704806e-05 9.99990817e-01 5.91297206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99862385300003 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:158.43, Y:83.25, Z:0.59 [[ 4.28035348e-01 -9.03760022e-01 -1.88777490e-03 1.58427892e+02] [ 9.03751835e-01 4.28039506e-01 -3.84729801e-03 8.32538999e+01] [ 4.28507637e-03 -5.93004856e-05 9.99990817e-01 5.93069917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02862385300003 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:158.44, Y:83.28, Z:0.59 [[ 4.30456692e-01 -9.02609260e-01 -1.88674840e-03 1.58438447e+02] [ 9.02601060e-01 4.30460825e-01 -3.84780135e-03 8.32760687e+01] [ 4.28523240e-03 -4.66692584e-05 9.99990817e-01 5.93380493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05862385300003 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:158.45, Y:83.30, Z:0.59 [[ 4.31592768e-01 -9.02066587e-01 -1.88568038e-03 1.58449720e+02] [ 9.02058379e-01 4.31596886e-01 -3.84832468e-03 8.32993992e+01] [ 4.28529889e-03 -4.00846840e-05 9.99990817e-01 5.94914108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08862385300003 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:158.46, Y:83.32, Z:0.60 [[ 4.32607972e-01 -9.01580163e-01 -1.88465563e-03 1.58459909e+02] [ 9.01571949e-01 4.32612075e-01 -3.84882647e-03 8.33216375e+01] [ 4.28535038e-03 -3.41196328e-05 9.99990817e-01 5.95324621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.118623853 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:158.47, Y:83.34, Z:0.60 [[ 4.34034617e-01 -9.00894224e-01 -1.88378170e-03 1.58470497e+02] [ 9.00886001e-01 4.34038704e-01 -3.84925416e-03 8.33438954e+01] [ 4.28540501e-03 -2.63630084e-05 9.99990817e-01 5.96189398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.148623853 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:158.48, Y:83.37, Z:0.60 [[ 4.36899748e-01 -8.99508236e-01 -1.88274853e-03 1.58480899e+02] [ 8.99499997e-01 4.36903804e-01 -3.84975944e-03 8.33669706e+01] [ 4.28547032e-03 -1.15733673e-05 9.99990817e-01 5.97641497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.178623853 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:158.49, Y:83.39, Z:0.60 [[ 4.38506487e-01 -8.98726054e-01 -1.88171404e-03 1.58491036e+02] [ 8.98717806e-01 4.38510525e-01 -3.85026502e-03 8.33893262e+01] [ 4.28548490e-03 -2.76371974e-06 9.99990817e-01 5.96427244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.208623853 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:158.50, Y:83.41, Z:0.60 [[ 4.40223647e-01 -8.97886186e-01 -1.88083817e-03 1.58501004e+02] [ 8.97877929e-01 4.40227665e-01 -3.85069283e-03 8.34125777e+01] [ 4.28548089e-03 6.40296367e-06 9.99990817e-01 5.96860054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.238623853 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:158.51, Y:83.44, Z:0.60 [[ 4.41934688e-01 -8.97045259e-01 -1.87980939e-03 1.58510524e+02] [ 8.97036993e-01 4.41938686e-01 -3.85119499e-03 8.34353345e+01] [ 4.28545670e-03 1.57180924e-05 9.99990817e-01 5.96688131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.268623853 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:158.52, Y:83.46, Z:0.59 [[ 4.44901125e-01 -8.95577724e-01 -1.87873988e-03 1.58519269e+02] [ 8.95569442e-01 4.44905090e-01 -3.85171666e-03 8.34582623e+01] [ 4.28537258e-03 3.10910444e-05 9.99990817e-01 5.94654554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.298623853 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:158.53, Y:83.48, Z:0.59 [[ 4.45892249e-01 -8.95084676e-01 -1.87768653e-03 1.58528985e+02] [ 8.95076387e-01 4.45896201e-01 -3.85223009e-03 8.34817187e+01] [ 4.28532541e-03 3.70066597e-05 9.99990817e-01 5.94287100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.328623853 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:158.54, Y:83.51, Z:0.59 [[ 4.48006498e-01 -8.94028331e-01 -1.87668068e-03 1.58538596e+02] [ 8.94020031e-01 4.48010426e-01 -3.85272005e-03 8.35059410e+01] [ 4.28521338e-03 4.82534962e-05 9.99990817e-01 5.94388957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.358623853 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:158.55, Y:83.53, Z:0.59 [[ 4.47773616e-01 -8.94144994e-01 -1.87567814e-03 1.58549706e+02] [ 8.94136693e-01 4.47777542e-01 -3.85320807e-03 8.35294747e+01] [ 4.28521325e-03 4.82522671e-05 9.99990817e-01 5.94500286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.388623853 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:158.56, Y:83.55, Z:0.60 [[ 4.48116475e-01 -8.93973216e-01 -1.87467436e-03 1.58558210e+02] [ 8.93964911e-01 4.48120394e-01 -3.85369637e-03 8.35525069e+01] [ 4.28518115e-03 5.10117362e-05 9.99990817e-01 6.01076843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.418623853 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:158.57, Y:83.57, Z:0.59 [[ 4.48372553e-01 -8.93844809e-01 -1.87363048e-03 1.58568365e+02] [ 8.93836501e-01 4.48376465e-01 -3.85420383e-03 8.35745230e+01] [ 4.28515189e-03 5.33998949e-05 9.99990817e-01 5.94762352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44862385300002 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:158.58, Y:83.60, Z:0.60 [[ 4.48307128e-01 -8.93877627e-01 -1.87259782e-03 1.58577865e+02] [ 8.93869318e-01 4.48311035e-01 -3.85470549e-03 8.35981167e+01] [ 4.28514126e-03 5.42342103e-05 9.99990817e-01 5.95891645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47862385300002 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:158.59, Y:83.62, Z:0.60 [[ 4.47598814e-01 -8.94232520e-01 -1.87160571e-03 1.58587686e+02] [ 8.94224211e-01 4.47602723e-01 -3.85518713e-03 8.36223648e+01] [ 4.28516952e-03 5.19420450e-05 9.99990817e-01 5.95083243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50862385300002 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:158.60, Y:83.65, Z:0.60 [[ 4.46516786e-01 -8.94773301e-01 -1.87067875e-03 1.58598481e+02] [ 8.94764995e-01 4.46520702e-01 -3.85563688e-03 8.36468822e+01] [ 4.28521772e-03 4.77887216e-05 9.99990817e-01 5.95077777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53862385300002 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:158.61, Y:83.67, Z:0.60 [[ 4.45431383e-01 -8.95314127e-01 -1.86975592e-03 1.58608802e+02] [ 8.95305824e-01 4.45435306e-01 -3.85608434e-03 8.36707263e+01] [ 4.28526209e-03 4.36176152e-05 9.99990817e-01 5.95035816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56862385300002 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:158.62, Y:83.69, Z:0.59 [[ 4.44317322e-01 -8.95867527e-01 -1.86874191e-03 1.58617792e+02] [ 8.95859226e-01 4.44321250e-01 -3.85657569e-03 8.36933166e+01] [ 4.28530267e-03 3.94137062e-05 9.99990817e-01 5.94357589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59862385300002 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:158.63, Y:83.72, Z:0.59 [[ 4.42324576e-01 -8.96853098e-01 -1.86787994e-03 1.58626575e+02] [ 8.96844805e-01 4.42328519e-01 -3.85699313e-03 8.37169983e+01] [ 4.28537281e-03 3.08444356e-05 9.99990817e-01 5.94272351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62862385300002 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:158.64, Y:83.74, Z:0.59 [[ 4.41259237e-01 -8.97377736e-01 -1.86687446e-03 1.58636816e+02] [ 8.97369445e-01 4.41263185e-01 -3.85747974e-03 8.37405110e+01] [ 4.28539941e-03 2.68724637e-05 9.99990817e-01 5.94489903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65862385300002 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:158.65, Y:83.76, Z:0.59 [[ 4.40069268e-01 -8.97961891e-01 -1.86587037e-03 1.58646338e+02] [ 8.97953604e-01 4.40073223e-01 -3.85796537e-03 8.37630067e+01] [ 4.28542546e-03 2.23069737e-05 9.99990817e-01 5.94022164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68862385300002 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:158.65, Y:83.79, Z:0.61 [[ 4.37586364e-01 -8.99174452e-01 -1.86501333e-03 1.58654384e+02] [ 8.99166174e-01 4.37590338e-01 -3.85837963e-03 8.37874484e+01] [ 4.28546820e-03 1.14174077e-05 9.99990817e-01 6.05121129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71862385300003 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:158.67, Y:83.81, Z:0.60 [[ 4.36048847e-01 -8.99921068e-01 -1.86399333e-03 1.58665521e+02] [ 8.99912794e-01 4.36052831e-01 -3.85887233e-03 8.38098275e+01] [ 4.28548008e-03 5.22538709e-06 9.99990817e-01 5.95998639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74862385300003 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:158.68, Y:83.83, Z:0.60 [[ 4.34560662e-01 -9.00640639e-01 -1.86292889e-03 1.58675603e+02] [ 9.00632370e-01 4.34564655e-01 -3.85938613e-03 8.38320170e+01] [ 4.28548305e-03 -6.76671331e-07 9.99990817e-01 5.95408437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77862385300003 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:158.69, Y:83.86, Z:0.60 [[ 4.33220558e-01 -9.01286016e-01 -1.86191774e-03 1.58686549e+02] [ 9.01277750e-01 4.33224559e-01 -3.85987389e-03 8.38552831e+01] [ 4.28547885e-03 -5.92831076e-06 9.99990817e-01 5.97646789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80862385300003 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:158.70, Y:83.88, Z:0.60 [[ 4.30544007e-01 -9.02567668e-01 -1.86090345e-03 1.58696190e+02] [ 9.02559413e-01 4.30548028e-01 -3.86036283e-03 8.38781390e+01] [ 4.28544699e-03 -1.75198435e-05 9.99990817e-01 5.97855186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83862385300003 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:158.71, Y:83.90, Z:0.60 [[ 4.28949174e-01 -9.03326711e-01 -1.85984986e-03 1.58706419e+02] [ 9.03318461e-01 4.28953205e-01 -3.86087037e-03 8.39012976e+01] [ 4.28541589e-03 -2.39195639e-05 9.99990817e-01 5.98734283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.868623853 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:158.72, Y:83.92, Z:0.60 [[ 4.27474506e-01 -9.04025493e-01 -1.85886323e-03 1.58717040e+02] [ 9.04017247e-01 4.27478546e-01 -3.86134534e-03 8.39240793e+01] [ 4.28537877e-03 -2.98177271e-05 9.99990817e-01 5.98824611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.898623853 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:158.73, Y:83.95, Z:0.60 [[ 4.24546865e-01 -9.05404058e-01 -1.85786763e-03 1.58727508e+02] [ 9.05395823e-01 4.24550928e-01 -3.86182430e-03 8.39463545e+01] [ 4.28527082e-03 -4.25801932e-05 9.99990817e-01 5.97431526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.928623853 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:158.74, Y:83.97, Z:0.60 [[ 4.22745073e-01 -9.06246741e-01 -1.85702290e-03 1.58738540e+02] [ 9.06238512e-01 4.22749149e-01 -3.86223046e-03 8.39692945e+01] [ 4.28518862e-03 -5.01667683e-05 9.99990817e-01 5.98860162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.958623853 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:158.75, Y:83.99, Z:0.60 [[ 4.21243028e-01 -9.06945901e-01 -1.85597921e-03 1.58749657e+02] [ 9.06937676e-01 4.21247113e-01 -3.86273194e-03 8.39915017e+01] [ 4.28511478e-03 -5.61085750e-05 9.99990817e-01 5.98794141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.988623853 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:158.76, Y:84.01, Z:0.60 [[ 4.18287420e-01 -9.08312828e-01 -1.85489607e-03 1.58761186e+02] [ 9.08304615e-01 4.18291527e-01 -3.86325200e-03 8.40138930e+01] [ 4.28492866e-03 -6.88609475e-05 9.99990817e-01 5.99912762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.018623853 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:158.77, Y:84.04, Z:0.60 [[ 4.16761812e-01 -9.09013837e-01 -1.85386127e-03 1.58772357e+02] [ 9.09005628e-01 4.16765929e-01 -3.86374850e-03 8.40360160e+01] [ 4.28482706e-03 -7.49074997e-05 9.99990817e-01 5.99715466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.048623853 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:158.78, Y:84.06, Z:0.60 [[ 4.15163436e-01 -9.09744958e-01 -1.85278563e-03 1.58783911e+02] [ 9.09736755e-01 4.15167562e-01 -3.86426423e-03 8.40580246e+01] [ 4.28471140e-03 -8.12459728e-05 9.99990817e-01 5.99495261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.078623853 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:158.80, Y:84.08, Z:0.60 [[ 4.13078970e-01 -9.10693327e-01 -1.85191697e-03 1.58797821e+02] [ 9.10685131e-01 4.13083111e-01 -3.86468049e-03 8.40797883e+01] [ 4.28453435e-03 -9.00950160e-05 9.99990817e-01 5.98529255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.108623853 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:158.81, Y:84.10, Z:0.60 [[ 4.12613579e-01 -9.10904281e-01 -1.85091081e-03 1.58809687e+02] [ 9.10896085e-01 4.12617720e-01 -3.86516231e-03 8.41014981e+01] [ 4.28451149e-03 -9.11689506e-05 9.99990817e-01 5.97349320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.138623853 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:158.82, Y:84.12, Z:0.60 [[ 4.12406268e-01 -9.10998160e-01 -1.84986214e-03 1.58821773e+02] [ 9.10989963e-01 4.12410407e-01 -3.86566413e-03 8.41245059e+01] [ 4.28451531e-03 -9.09817266e-05 9.99990817e-01 5.96780198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.168623853 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:158.83, Y:84.15, Z:0.60 [[ 4.12745557e-01 -9.10844491e-01 -1.84885390e-03 1.58833158e+02] [ 9.10836290e-01 4.12749688e-01 -3.86614630e-03 8.41464200e+01] [ 4.28457192e-03 -8.82685196e-05 9.99990817e-01 5.95388338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19862385300002 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:158.85, Y:84.17, Z:0.60 [[ 4.14903543e-01 -9.09863526e-01 -1.84780254e-03 1.58845188e+02] [ 9.09855313e-01 4.14907650e-01 -3.86664872e-03 8.41690583e+01] [ 4.28479005e-03 -7.69467121e-05 9.99990817e-01 5.96229361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22862385300002 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:158.86, Y:84.19, Z:0.60 [[ 4.16343522e-01 -9.09205511e-01 -1.84681637e-03 1.58856429e+02] [ 9.09197289e-01 4.16347612e-01 -3.86711968e-03 8.41912467e+01] [ 4.28492411e-03 -6.90702089e-05 9.99990817e-01 5.96463311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25862385300002 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:158.87, Y:84.21, Z:0.60 [[ 4.17917600e-01 -9.08483061e-01 -1.84579050e-03 1.58868167e+02] [ 9.08474831e-01 4.17921672e-01 -3.86760927e-03 8.42137015e+01] [ 4.28505336e-03 -6.05122224e-05 9.99990817e-01 5.97357717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28862385300002 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:158.88, Y:84.24, Z:0.60 [[ 4.19538313e-01 -9.07735755e-01 -1.84481188e-03 1.58879736e+02] [ 9.07727515e-01 4.19542366e-01 -3.86807601e-03 8.42355017e+01] [ 4.28516764e-03 -5.17804184e-05 9.99990817e-01 5.97410256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31862385300002 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:158.89, Y:84.26, Z:0.60 [[ 4.22615857e-01 -9.06307033e-01 -1.84379560e-03 1.58891775e+02] [ 9.06298777e-01 4.22619877e-01 -3.86856038e-03 8.42567740e+01] [ 4.28532815e-03 -3.61147408e-05 9.99990817e-01 5.97460397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34862385300002 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:158.90, Y:84.28, Z:0.60 [[ 4.23633218e-01 -9.05831938e-01 -1.84278556e-03 1.58902779e+02] [ 9.05823676e-01 4.23637225e-01 -3.86904145e-03 8.42796575e+01] [ 4.28537388e-03 -3.01843113e-05 9.99990817e-01 5.98121359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37862385300002 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:158.91, Y:84.30, Z:0.61 [[ 4.25042788e-01 -9.05171385e-01 -1.84178569e-03 1.58912565e+02] [ 9.05163114e-01 4.25046778e-01 -3.86951736e-03 8.43019626e+01] [ 4.28542146e-03 -2.24060186e-05 9.99990817e-01 6.06040920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40862385300002 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:158.92, Y:84.32, Z:0.60 [[ 4.25776663e-01 -9.04826417e-01 -1.84074615e-03 1.58924653e+02] [ 9.04818141e-01 4.25780642e-01 -3.87001181e-03 8.43247392e+01] [ 4.28544300e-03 -1.77797938e-05 9.99990817e-01 5.96771401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43862385300002 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:158.94, Y:84.35, Z:0.60 [[ 4.28137444e-01 -9.03711760e-01 -1.83978264e-03 1.58936810e+02] [ 9.03703471e-01 4.28141397e-01 -3.87046980e-03 8.43474950e+01] [ 4.28547619e-03 -5.52491272e-06 9.99990817e-01 5.97498992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46862385300003 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:158.95, Y:84.37, Z:0.60 [[ 4.29237569e-01 -9.03189752e-01 -1.83880673e-03 1.58948232e+02] [ 9.03181457e-01 4.29241507e-01 -3.87093339e-03 8.43705341e+01] [ 4.28547954e-03 7.73893204e-07 9.99990817e-01 5.97888682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49862385300003 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:158.96, Y:84.39, Z:0.60 [[ 4.30418543e-01 -9.02627554e-01 -1.83783137e-03 1.58959612e+02] [ 9.02619251e-01 4.30422466e-01 -3.87139641e-03 8.43933755e+01] [ 4.28547299e-03 7.45882420e-06 9.99990817e-01 5.98709713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52862385300003 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:158.97, Y:84.42, Z:0.60 [[ 4.31544506e-01 -9.02089777e-01 -1.83682508e-03 1.58970896e+02] [ 9.02081468e-01 4.31548415e-01 -3.87187380e-03 8.44167719e+01] [ 4.28545672e-03 1.39200039e-05 9.99990817e-01 5.98769635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55862385300003 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:158.98, Y:84.44, Z:0.60 [[ 4.33891559e-01 -9.00963232e-01 -1.83581154e-03 1.58981792e+02] [ 9.00954910e-01 4.33895442e-01 -3.87235430e-03 8.44401151e+01] [ 4.28539910e-03 2.61984230e-05 9.99990817e-01 5.98825753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58862385300003 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:158.99, Y:84.46, Z:0.60 [[ 4.34505721e-01 -9.00667204e-01 -1.83480591e-03 1.58992185e+02] [ 9.00658878e-01 4.34509594e-01 -3.87283073e-03 8.44632813e+01] [ 4.28537240e-03 3.02328820e-05 9.99990817e-01 5.98412723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.618623853 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:159.00, Y:84.49, Z:0.60 [[ 4.34862675e-01 -9.00494914e-01 -1.83380066e-03 1.59001707e+02] [ 9.00486585e-01 4.34866541e-01 -3.87330666e-03 8.44853752e+01] [ 4.28535150e-03 3.30436035e-05 9.99990817e-01 5.97873036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.648623853 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:159.01, Y:84.51, Z:0.60 [[ 4.34715923e-01 -9.00565770e-01 -1.83275804e-03 1.59012179e+02] [ 9.00557439e-01 4.34719786e-01 -3.87379994e-03 8.45088279e+01] [ 4.28534781e-03 3.34986326e-05 9.99990817e-01 5.99434514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.678623853 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:159.02, Y:84.53, Z:0.60 [[ 4.34135637e-01 -9.00845655e-01 -1.83176760e-03 1.59023346e+02] [ 9.00837324e-01 4.34139500e-01 -3.87426823e-03 8.45305875e+01] [ 4.28536037e-03 3.18332790e-05 9.99990817e-01 6.00189783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.708623853 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:159.03, Y:84.55, Z:0.60 [[ 4.33148357e-01 -9.01320780e-01 -1.83073640e-03 1.59034559e+02] [ 9.01312452e-01 4.33152225e-01 -3.87475545e-03 8.45527878e+01] [ 4.28538515e-03 2.82784424e-05 9.99990817e-01 6.01191366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.738623853 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:159.05, Y:84.58, Z:0.60 [[ 4.31964145e-01 -9.01888923e-01 -1.82971410e-03 1.59045866e+02] [ 9.01880598e-01 4.31968019e-01 -3.87523813e-03 8.45757269e+01] [ 4.28541232e-03 2.37802746e-05 9.99990817e-01 6.01150898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.768623853 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:159.06, Y:84.60, Z:0.60 [[ 4.29518185e-01 -9.03056357e-01 -1.82874577e-03 1.59057406e+02] [ 9.03048041e-01 4.29522078e-01 -3.87569504e-03 8.45988306e+01] [ 4.28545773e-03 1.32362172e-05 9.99990817e-01 6.00444466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.798623853 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:159.07, Y:84.62, Z:0.60 [[ 4.28047188e-01 -9.03754538e-01 -1.82774667e-03 1.59069051e+02] [ 9.03746225e-01 4.28051090e-01 -3.87616615e-03 8.46220106e+01] [ 4.28547170e-03 7.36286857e-06 9.99990817e-01 6.00938340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.828623853 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:159.08, Y:84.64, Z:0.60 [[ 4.26771884e-01 -9.04357464e-01 -1.82671967e-03 1.59079978e+02] [ 9.04349155e-01 4.26775793e-01 -3.87665008e-03 8.46435050e+01] [ 4.28547717e-03 2.45286949e-06 9.99990817e-01 5.99499970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.858623853 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:159.09, Y:84.67, Z:0.60 [[ 4.25464406e-01 -9.04973318e-01 -1.82565153e-03 1.59090782e+02] [ 9.04965013e-01 4.25468323e-01 -3.87715304e-03 8.46662776e+01] [ 4.28547695e-03 -2.56014164e-06 9.99990817e-01 6.00450918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.888623853 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:159.10, Y:84.69, Z:0.60 [[ 4.23234361e-01 -9.06018403e-01 -1.82465256e-03 1.59101886e+02] [ 9.06010105e-01 4.23238294e-01 -3.87762312e-03 8.46889982e+01] [ 4.28546074e-03 -1.20103154e-05 9.99990817e-01 6.01655758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.918623853 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:159.11, Y:84.71, Z:0.61 [[ 4.22112030e-01 -9.06541840e-01 -1.82363804e-03 1.59112045e+02] [ 9.06533545e-01 4.22115969e-01 -3.87810018e-03 8.47119774e+01] [ 4.28544682e-03 -1.61963156e-05 9.99990817e-01 6.12254025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94862385300002 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:159.12, Y:84.73, Z:0.60 [[ 4.20870936e-01 -9.07118699e-01 -1.82262766e-03 1.59124950e+02] [ 9.07110407e-01 4.20874882e-01 -3.87857498e-03 8.47331715e+01] [ 4.28542609e-03 -2.09450404e-05 9.99990817e-01 6.03524228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97862385300002 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:159.14, Y:84.76, Z:0.60 [[ 4.20268874e-01 -9.07397793e-01 -1.82175991e-03 1.59136055e+02] [ 9.07389502e-01 4.20272822e-01 -3.87898252e-03 8.47564128e+01] [ 4.28541636e-03 -2.28302024e-05 9.99990817e-01 6.03726895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00862385300002 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:159.15, Y:84.78, Z:0.60 [[ 4.19716698e-01 -9.07653336e-01 -1.82076137e-03 1.59146788e+02] [ 9.07645045e-01 4.19720647e-01 -3.87945117e-03 8.47788498e+01] [ 4.28540794e-03 -2.43345944e-05 9.99990817e-01 6.03764682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03862385300002 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:159.16, Y:84.80, Z:0.60 [[ 4.19206112e-01 -9.07889269e-01 -1.81972030e-03 1.59158074e+02] [ 9.07880978e-01 4.19210061e-01 -3.87993944e-03 8.48022507e+01] [ 4.28540044e-03 -2.55951134e-05 9.99990817e-01 6.04325170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06862385300002 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:159.17, Y:84.83, Z:0.60 [[ 4.18004751e-01 -9.08443020e-01 -1.81873161e-03 1.59169718e+02] [ 9.08434733e-01 4.18008706e-01 -3.88040284e-03 8.48251113e+01] [ 4.28537052e-03 -3.01721456e-05 9.99990817e-01 6.04093879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09862385300002 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:159.18, Y:84.85, Z:0.61 [[ 4.17008025e-01 -9.08900986e-01 -1.81773998e-03 1.59181168e+02] [ 9.08892702e-01 4.17011985e-01 -3.88086730e-03 8.48486515e+01] [ 4.28534348e-03 -3.37777976e-05 9.99990817e-01 6.06086657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12862385300002 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:159.19, Y:84.87, Z:0.60 [[ 4.16043866e-01 -9.09342730e-01 -1.81675875e-03 1.59192746e+02] [ 9.09334447e-01 4.16047831e-01 -3.88132659e-03 8.48713512e+01] [ 4.28531466e-03 -3.72391909e-05 9.99990817e-01 6.04493021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15862385300002 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:159.20, Y:84.89, Z:0.60 [[ 4.14979392e-01 -9.09828999e-01 -1.81573264e-03 1.59203816e+02] [ 9.09820719e-01 4.14983363e-01 -3.88180656e-03 8.48945762e+01] [ 4.28527901e-03 -4.11214534e-05 9.99990817e-01 6.04334158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18862385300002 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:159.22, Y:84.92, Z:0.60 [[ 4.13212222e-01 -9.10632948e-01 -1.81472747e-03 1.59215268e+02] [ 9.10624674e-01 4.13216204e-01 -3.88227641e-03 8.49168902e+01] [ 4.28520361e-03 -4.83315497e-05 9.99990817e-01 6.03214462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21862385300003 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:159.23, Y:84.94, Z:0.60 [[ 4.12200206e-01 -9.11091489e-01 -1.81370678e-03 1.59226510e+02] [ 9.11083217e-01 4.12204193e-01 -3.88275320e-03 8.49384760e+01] [ 4.28516093e-03 -5.19661345e-05 9.99990817e-01 6.02924660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24862385300003 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:159.24, Y:84.96, Z:0.61 [[ 4.11347326e-01 -9.11476874e-01 -1.81264258e-03 1.59238259e+02] [ 9.11468603e-01 4.11351316e-01 -3.88324995e-03 8.49610948e+01] [ 4.28512544e-03 -5.48023210e-05 9.99990817e-01 6.05041033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27862385300003 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:159.25, Y:84.98, Z:0.61 [[ 4.11108823e-01 -9.11584474e-01 -1.81162607e-03 1.59248973e+02] [ 9.11576203e-01 4.11112811e-01 -3.88372412e-03 8.49848196e+01] [ 4.28512529e-03 -5.48019639e-05 9.99990817e-01 6.05152363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30862385300003 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:159.26, Y:85.01, Z:0.61 [[ 4.10063681e-01 -9.12055097e-01 -1.81060975e-03 1.59260859e+02] [ 9.12046828e-01 4.10067674e-01 -3.88419787e-03 8.50062963e+01] [ 4.28507500e-03 -5.85924035e-05 9.99990817e-01 6.05118516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33862385300003 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:159.27, Y:85.03, Z:0.61 [[ 4.09577981e-01 -9.12273316e-01 -1.80955286e-03 1.59272394e+02] [ 9.12265047e-01 4.09581974e-01 -3.88469019e-03 8.50294776e+01] [ 4.28505943e-03 -5.97082618e-05 9.99990817e-01 6.05696917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.368623853 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:159.28, Y:85.05, Z:0.61 [[ 4.09053748e-01 -9.12508499e-01 -1.80852225e-03 1.59283652e+02] [ 9.12500230e-01 4.09057742e-01 -3.88516993e-03 8.50516389e+01] [ 4.28504061e-03 -6.10336400e-05 9.99990817e-01 6.06174849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.398623853 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:159.30, Y:85.07, Z:0.61 [[ 4.08463386e-01 -9.12772915e-01 -1.80745350e-03 1.59295131e+02] [ 9.12764647e-01 4.08467381e-01 -3.88566707e-03 8.50744842e+01] [ 4.28501746e-03 -6.26269242e-05 9.99990817e-01 6.07266332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.428623853 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:159.31, Y:85.10, Z:0.61 [[ 4.07342399e-01 -9.13273730e-01 -1.80640173e-03 1.59308439e+02] [ 9.13265465e-01 4.07346399e-01 -3.88615597e-03 8.50968015e+01] [ 4.28495540e-03 -6.67282145e-05 9.99990817e-01 6.08049553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.458623853 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:159.32, Y:85.12, Z:0.61 [[ 4.06613789e-01 -9.13598362e-01 -1.80533420e-03 1.59320025e+02] [ 9.13590097e-01 4.06617791e-01 -3.88665183e-03 8.51182150e+01] [ 4.28491975e-03 -6.89692194e-05 9.99990817e-01 6.07475658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.488623853 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:159.33, Y:85.14, Z:0.61 [[ 4.05957417e-01 -9.13890212e-01 -1.80422285e-03 1.59332025e+02] [ 9.13881948e-01 4.05961420e-01 -3.88716766e-03 8.51408837e+01] [ 4.28488935e-03 -7.08221436e-05 9.99990817e-01 6.07923607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.518623853 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:159.34, Y:85.16, Z:0.61 [[ 4.05490852e-01 -9.14097324e-01 -1.80323649e-03 1.59344361e+02] [ 9.14089060e-01 4.05494855e-01 -3.88762517e-03 8.51630500e+01] [ 4.28487089e-03 -7.19223088e-05 9.99990817e-01 6.08359059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.548623853 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:159.36, Y:85.18, Z:0.61 [[ 4.05109852e-01 -9.14266241e-01 -1.80221843e-03 1.59358812e+02] [ 9.14257977e-01 4.05113854e-01 -3.88809707e-03 8.51847337e+01] [ 4.28485955e-03 -7.25861521e-05 9.99990817e-01 6.07594432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.578623853 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:159.37, Y:85.21, Z:0.61 [[ 4.05268442e-01 -9.14195956e-01 -1.80120270e-03 1.59370843e+02] [ 9.14187689e-01 4.05272438e-01 -3.88856756e-03 8.52069041e+01] [ 4.28489055e-03 -7.07236172e-05 9.99990817e-01 6.07312322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.608623853 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:159.38, Y:85.23, Z:0.61 [[ 4.05559925e-01 -9.14066686e-01 -1.80017848e-03 1.59382811e+02] [ 9.14058415e-01 4.05563915e-01 -3.88904165e-03 8.52295267e+01] [ 4.28493085e-03 -6.82288436e-05 9.99990817e-01 6.06633413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.638623853 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:159.40, Y:85.25, Z:0.61 [[ 4.07660911e-01 -9.13131614e-01 -1.79915540e-03 1.59395889e+02] [ 9.13123332e-01 4.07664877e-01 -3.88951490e-03 8.52519565e+01] [ 4.28509148e-03 -5.72475848e-05 9.99990817e-01 6.06913131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.668623853 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:159.41, Y:85.27, Z:0.61 [[ 4.09338440e-01 -9.12380846e-01 -1.79812371e-03 1.59406971e+02] [ 9.12372555e-01 4.09342387e-01 -3.88999179e-03 8.52734301e+01] [ 4.28520225e-03 -4.82355478e-05 9.99990817e-01 6.07153759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69862385300002 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:159.42, Y:85.30, Z:0.61 [[ 4.11417794e-01 -9.11445099e-01 -1.79724592e-03 1.59418485e+02] [ 9.11436797e-01 4.11421717e-01 -3.89039730e-03 8.52964770e+01] [ 4.28530956e-03 -3.74973918e-05 9.99990817e-01 6.07958077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72862385300002 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:159.43, Y:85.32, Z:0.61 [[ 4.16534177e-01 -9.09118283e-01 -1.79623194e-03 1.59430192e+02] [ 9.09109957e-01 4.16538050e-01 -3.89086541e-03 8.53188533e+01] [ 4.28545583e-03 -1.22939279e-05 9.99990817e-01 6.08421514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75862385300002 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:159.44, Y:85.34, Z:0.61 [[ 4.19190905e-01 -9.07896339e-01 -1.79521086e-03 1.59440286e+02] [ 9.07888000e-01 4.19194749e-01 -3.89133647e-03 8.53410318e+01] [ 4.28547310e-03 1.36246293e-06 9.99990817e-01 6.07361515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78862385300002 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:159.45, Y:85.36, Z:0.61 [[ 4.22022148e-01 -9.06583746e-01 -1.79415489e-03 1.59450802e+02] [ 9.06575392e-01 4.22025961e-01 -3.89182328e-03 8.53647250e+01] [ 4.28544367e-03 1.58989488e-05 9.99990817e-01 6.08108538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81862385300002 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:159.46, Y:85.39, Z:0.61 [[ 4.24490435e-01 -9.05430646e-01 -1.79314764e-03 1.59460656e+02] [ 9.05422280e-01 4.24494222e-01 -3.89228731e-03 8.53879190e+01] [ 4.28537702e-03 2.86829137e-05 9.99990817e-01 6.08295287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84862385300002 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:159.47, Y:85.41, Z:0.61 [[ 4.28849527e-01 -9.03374159e-01 -1.79211616e-03 1.59469294e+02] [ 9.03365773e-01 4.28853269e-01 -3.89276217e-03 8.54130800e+01] [ 4.28517563e-03 5.04728145e-05 9.99990817e-01 6.06802046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87862385300002 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:159.48, Y:85.44, Z:0.60 [[ 4.30623877e-01 -9.02529705e-01 -1.79115637e-03 1.59478987e+02] [ 9.02521310e-01 4.30627598e-01 -3.89320375e-03 8.54369749e+01] [ 4.28505339e-03 5.99496990e-05 9.99990817e-01 6.04430640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90862385300002 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:159.49, Y:85.46, Z:0.61 [[ 4.31857535e-01 -9.01940056e-01 -1.79039573e-03 1.59488302e+02] [ 9.01931654e-01 4.31861241e-01 -3.89355352e-03 8.54609593e+01] [ 4.28495440e-03 6.66458394e-05 9.99990817e-01 6.05629526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93862385300002 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:159.50, Y:85.48, Z:0.60 [[ 4.32714071e-01 -9.01529440e-01 -1.78938225e-03 1.59497381e+02] [ 9.01521033e-01 4.32717764e-01 -3.89401923e-03 8.54837474e+01] [ 4.28487046e-03 7.18311796e-05 9.99990817e-01 6.04986582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96862385300003 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:159.51, Y:85.51, Z:0.61 [[ 4.33295129e-01 -9.01250316e-01 -1.78832935e-03 1.59505194e+02] [ 9.01241905e-01 4.33298813e-01 -3.89450272e-03 8.55086016e+01] [ 4.28480279e-03 7.57517090e-05 9.99990817e-01 6.07156465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99862385300003 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:159.51, Y:85.53, Z:0.61 [[ 4.32975074e-01 -9.01404122e-01 -1.78731266e-03 1.59514004e+02] [ 9.01395710e-01 4.32978756e-01 -3.89496925e-03 8.55322619e+01] [ 4.28480975e-03 7.53486301e-05 9.99990817e-01 6.07054451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02862385300003 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:159.52, Y:85.56, Z:0.61 [[ 4.31349650e-01 -9.02183068e-01 -1.78629175e-03 1.59521504e+02] [ 9.02174661e-01 4.31353343e-01 -3.89543740e-03 8.55560857e+01] [ 4.28492058e-03 6.87483996e-05 9.99990817e-01 6.05438226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05862385300003 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:159.53, Y:85.58, Z:0.61 [[ 4.29851800e-01 -9.02897692e-01 -1.78522956e-03 1.59530253e+02] [ 9.02889289e-01 4.29855503e-01 -3.89592413e-03 8.55797957e+01] [ 4.28501165e-03 6.28053461e-05 9.99990817e-01 6.07005796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08862385300003 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:159.54, Y:85.60, Z:0.61 [[ 4.28136785e-01 -9.03712183e-01 -1.78422003e-03 1.59538794e+02] [ 9.03703785e-01 4.28140499e-01 -3.89638641e-03 8.56029887e+01] [ 4.28510872e-03 5.57799582e-05 9.99990817e-01 6.06621391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.118623853 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:159.55, Y:85.63, Z:0.61 [[ 4.26308201e-01 -9.04576220e-01 -1.78317068e-03 1.59547852e+02] [ 9.04567828e-01 4.26311928e-01 -3.89686658e-03 8.56265195e+01] [ 4.28519977e-03 4.82673587e-05 9.99990817e-01 6.07784048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.148623853 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:159.56, Y:85.65, Z:0.61 [[ 4.24238743e-01 -9.05548625e-01 -1.78215979e-03 1.59556834e+02] [ 9.05540240e-01 4.24242484e-01 -3.89732884e-03 8.56504974e+01] [ 4.28528867e-03 3.95804839e-05 9.99990817e-01 6.09454454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.178623853 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:159.56, Y:85.67, Z:0.61 [[ 4.20361013e-01 -9.07355193e-01 -1.78111802e-03 1.59564737e+02] [ 9.07346821e-01 4.20364786e-01 -3.89780488e-03 8.56742477e+01] [ 4.28541279e-03 2.23934390e-05 9.99990817e-01 6.09426095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.208623853 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:159.57, Y:85.70, Z:0.61 [[ 4.17988651e-01 -9.08450505e-01 -1.78003391e-03 1.59574247e+02] [ 9.08442140e-01 4.17992441e-01 -3.89829990e-03 8.56983356e+01] [ 4.28545323e-03 1.23873017e-05 9.99990817e-01 6.09420237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.238623853 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:159.58, Y:85.72, Z:0.61 [[ 4.15694809e-01 -9.09502425e-01 -1.77899091e-03 1.59583276e+02] [ 9.09494068e-01 4.15698616e-01 -3.89877582e-03 8.57213325e+01] [ 4.28547012e-03 2.71918867e-06 9.99990817e-01 6.08328055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.268623853 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:159.59, Y:85.74, Z:0.61 [[ 4.10838150e-01 -9.11706561e-01 -1.77809882e-03 1.59590870e+02] [ 9.11698223e-01 4.10841997e-01 -3.89918263e-03 8.57443685e+01] [ 4.28542805e-03 -1.91565576e-05 9.99990817e-01 6.07549670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.298623853 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:159.60, Y:85.77, Z:0.61 [[ 4.08388464e-01 -9.12806499e-01 -1.77706465e-03 1.59600461e+02] [ 9.12798169e-01 4.08392329e-01 -3.89965390e-03 8.57685350e+01] [ 4.28536899e-03 -2.95276912e-05 9.99990817e-01 6.08460926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.328623853 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:159.61, Y:85.79, Z:0.61 [[ 4.05843633e-01 -9.13940803e-01 -1.77604529e-03 1.59610021e+02] [ 9.13932482e-01 4.05847517e-01 -3.90011809e-03 8.57926759e+01] [ 4.28528063e-03 -4.03473850e-05 9.99990817e-01 6.08725351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.358623853 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:159.62, Y:85.82, Z:0.61 [[ 4.01144995e-01 -9.16012850e-01 -1.77502084e-03 1.59619277e+02] [ 9.16004548e-01 4.01148918e-01 -3.90058429e-03 8.58165622e+01] [ 4.28503302e-03 -6.12272993e-05 9.99990817e-01 6.09847997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.388623853 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:159.63, Y:85.84, Z:0.61 [[ 3.99013356e-01 -9.16943398e-01 -1.77398547e-03 1.59629249e+02] [ 9.16935102e-01 3.99017293e-01 -3.90105512e-03 8.58405179e+01] [ 4.28489761e-03 -7.00564570e-05 9.99990817e-01 6.10284024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.418623853 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:159.64, Y:85.86, Z:0.61 [[ 3.96966844e-01 -9.17831238e-01 -1.77295209e-03 1.59638663e+02] [ 9.17822949e-01 3.96970795e-01 -3.90152471e-03 8.58640186e+01] [ 4.28475146e-03 -7.84801648e-05 9.99990817e-01 6.10621624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44862385300002 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:159.65, Y:85.89, Z:0.61 [[ 3.95267065e-01 -9.18564536e-01 -1.77192385e-03 1.59648084e+02] [ 9.18556253e-01 3.95271027e-01 -3.90199164e-03 8.58867569e+01] [ 4.28462130e-03 -8.52829426e-05 9.99990817e-01 6.09068357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47862385300002 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:159.66, Y:85.91, Z:0.61 [[ 3.91838190e-01 -9.20032444e-01 -1.77085341e-03 1.59657904e+02] [ 9.20024172e-01 3.91842178e-01 -3.90247738e-03 8.59100909e+01] [ 4.28430086e-03 -1.00088270e-04 9.99990817e-01 6.10702238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50862385300002 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:159.67, Y:85.93, Z:0.61 [[ 3.90707272e-01 -9.20513278e-01 -1.76982208e-03 1.59667610e+02] [ 9.20505010e-01 3.90711267e-01 -3.90294505e-03 8.59325215e+01] [ 4.28420217e-03 -1.04221081e-04 9.99990817e-01 6.13876374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53862385300002 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:159.68, Y:85.96, Z:0.61 [[ 3.89173385e-01 -9.21162824e-01 -1.76875008e-03 1.59677654e+02] [ 9.21154560e-01 3.89177389e-01 -3.90343080e-03 8.59558160e+01] [ 4.28405288e-03 -1.10180824e-04 9.99990817e-01 6.10024331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56862385300002 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:159.69, Y:85.98, Z:0.61 [[ 3.87626739e-01 -9.21814724e-01 -1.76771912e-03 1.59688158e+02] [ 9.21806465e-01 3.87630752e-01 -3.90389763e-03 8.59782043e+01] [ 4.28389261e-03 -1.16239805e-04 9.99990817e-01 6.09151689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59862385300002 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:159.70, Y:86.00, Z:0.61 [[ 3.86923987e-01 -9.22109922e-01 -1.76664783e-03 1.59698555e+02] [ 9.22101663e-01 3.86928002e-01 -3.90438236e-03 8.60012907e+01] [ 4.28383523e-03 -1.18329714e-04 9.99990817e-01 6.09372175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62862385300002 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:159.71, Y:86.02, Z:0.61 [[ 3.86576887e-01 -9.22255492e-01 -1.76561390e-03 1.59709033e+02] [ 9.22247233e-01 3.86580900e-01 -3.90484986e-03 8.60233877e+01] [ 4.28382185e-03 -1.18807830e-04 9.99990817e-01 6.08951395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65862385300002 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:159.72, Y:86.05, Z:0.61 [[ 3.86783836e-01 -9.22168721e-01 -1.76454235e-03 1.59720633e+02] [ 9.22160459e-01 3.86787843e-01 -3.90533402e-03 8.60459683e+01] [ 4.28388041e-03 -1.16671112e-04 9.99990817e-01 6.08949150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68862385300002 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:159.73, Y:86.07, Z:0.62 [[ 3.87555774e-01 -9.21844570e-01 -1.76352979e-03 1.59730398e+02] [ 9.21836303e-01 3.87559770e-01 -3.90579121e-03 8.60679568e+01] [ 4.28400562e-03 -1.11973841e-04 9.99990817e-01 6.16558296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71862385300003 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:159.74, Y:86.09, Z:0.61 [[ 3.87801544e-01 -9.21741209e-01 -1.76247560e-03 1.59741580e+02] [ 9.21732938e-01 3.87805533e-01 -3.90626685e-03 8.60914883e+01] [ 4.28406492e-03 -1.09675497e-04 9.99990817e-01 6.08829607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74862385300003 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:159.75, Y:86.11, Z:0.61 [[ 3.88631987e-01 -9.21391380e-01 -1.76146045e-03 1.59751339e+02] [ 9.21383104e-01 3.88635965e-01 -3.90672456e-03 8.61135125e+01] [ 4.28418922e-03 -1.04701762e-04 9.99990817e-01 6.08542747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77862385300003 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:159.76, Y:86.14, Z:0.61 [[ 3.91300848e-01 -9.20261130e-01 -1.76040852e-03 1.59761609e+02] [ 9.20252840e-01 3.91304797e-01 -3.90719851e-03 8.61360545e+01] [ 4.28449922e-03 -9.11308474e-05 9.99990817e-01 6.07641322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80862385300003 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:159.77, Y:86.16, Z:0.61 [[ 3.92816245e-01 -9.19615301e-01 -1.75936022e-03 1.59772039e+02] [ 9.19607002e-01 3.92820177e-01 -3.90767049e-03 8.61596050e+01] [ 4.28466577e-03 -8.29235229e-05 9.99990817e-01 6.07571971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83862385300003 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:159.78, Y:86.18, Z:0.61 [[ 3.94307728e-01 -9.18976781e-01 -1.75836554e-03 1.59781794e+02] [ 9.18968474e-01 3.94311641e-01 -3.90811802e-03 8.61824467e+01] [ 4.28481372e-03 -7.48813593e-05 9.99990817e-01 6.07678210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.868623853 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:159.79, Y:86.21, Z:0.61 [[ 3.95860650e-01 -9.18308912e-01 -1.75733082e-03 1.59792145e+02] [ 9.18300596e-01 3.95864545e-01 -3.90858324e-03 8.62059505e+01] [ 4.28495179e-03 -6.65036391e-05 9.99990817e-01 6.08106908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.898623853 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:159.80, Y:86.23, Z:0.61 [[ 3.99187334e-01 -9.16867705e-01 -1.75634684e-03 1.59802947e+02] [ 9.16859373e-01 3.99191194e-01 -3.90902535e-03 8.62282306e+01] [ 4.28517729e-03 -4.98896596e-05 9.99990817e-01 6.08806370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.928623853 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:159.81, Y:86.25, Z:0.61 [[ 4.00484698e-01 -9.16301766e-01 -1.75532851e-03 1.59812912e+02] [ 9.16293426e-01 4.00488543e-01 -3.90948258e-03 8.62509160e+01] [ 4.28525474e-03 -4.27080225e-05 9.99990817e-01 6.08583453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.958623853 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:159.82, Y:86.27, Z:0.61 [[ 4.01807744e-01 -9.15722371e-01 -1.75426756e-03 1.59822430e+02] [ 9.15714024e-01 4.01811571e-01 -3.90995859e-03 8.62726451e+01] [ 4.28532155e-03 -3.53557661e-05 9.99990817e-01 6.08683165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.988623853 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:159.83, Y:86.30, Z:0.62 [[ 4.03193910e-01 -9.15112888e-01 -1.75317101e-03 1.59832532e+02] [ 9.15104533e-01 4.03197720e-01 -3.91045020e-03 8.62955112e+01] [ 4.28537793e-03 -2.76650339e-05 9.99990817e-01 6.15247712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.018623853 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:159.84, Y:86.32, Z:0.61 [[ 4.04048048e-01 -9.14736085e-01 -1.75212049e-03 1.59842807e+02] [ 9.14727724e-01 4.04051847e-01 -3.91092084e-03 8.63164559e+01] [ 4.28540794e-03 -2.25132498e-05 9.99990817e-01 6.09772438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.048623853 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:159.85, Y:86.34, Z:0.61 [[ 4.04102950e-01 -9.14711834e-01 -1.75113209e-03 1.59852949e+02] [ 9.14703472e-01 4.04106743e-01 -3.91136335e-03 8.63383058e+01] [ 4.28541463e-03 -2.11731299e-05 9.99990817e-01 6.09424083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.078623853 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:159.86, Y:86.36, Z:0.61 [[ 4.03727020e-01 -9.14877823e-01 -1.75005363e-03 1.59862903e+02] [ 9.14869460e-01 4.03730812e-01 -3.91184583e-03 8.63593465e+01] [ 4.28541157e-03 -2.17527633e-05 9.99990817e-01 6.08849795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.108623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:159.87, Y:86.38, Z:0.61 [[ 4.03230483e-01 -9.15096781e-01 -1.74898296e-03 1.59872893e+02] [ 9.15088418e-01 4.03234275e-01 -3.91232447e-03 8.63802821e+01] [ 4.28540540e-03 -2.29055664e-05 9.99990817e-01 6.09103797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.138623853 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:159.88, Y:86.40, Z:0.61 [[ 4.02062284e-01 -9.15610651e-01 -1.74808259e-03 1.59884253e+02] [ 9.15602291e-01 4.02066083e-01 -3.91272672e-03 8.64010886e+01] [ 4.28537898e-03 -2.73885856e-05 9.99990817e-01 6.09307342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.168623853 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:159.89, Y:86.42, Z:0.61 [[ 4.01824265e-01 -9.15715135e-01 -1.74702036e-03 1.59894167e+02] [ 9.15706774e-01 4.01828062e-01 -3.91320095e-03 8.64242568e+01] [ 4.28537914e-03 -2.73392864e-05 9.99990817e-01 6.09415083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19862385300002 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:159.90, Y:86.45, Z:0.61 [[ 4.01065293e-01 -9.16047806e-01 -1.74600303e-03 1.59904935e+02] [ 9.16039446e-01 4.01069092e-01 -3.91365481e-03 8.64467881e+01] [ 4.28536275e-03 -2.97765341e-05 9.99990817e-01 6.09097743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22862385300002 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:159.92, Y:86.47, Z:0.61 [[ 4.00289023e-01 -9.16387284e-01 -1.74498977e-03 1.59915910e+02] [ 9.16378925e-01 4.00292825e-01 -3.91410654e-03 8.64693320e+01] [ 4.28534434e-03 -3.22979662e-05 9.99990817e-01 6.09524887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25862385300002 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:159.93, Y:86.49, Z:0.61 [[ 3.98919011e-01 -9.16984504e-01 -1.74397760e-03 1.59929022e+02] [ 9.16976149e-01 3.98922822e-01 -3.91455747e-03 8.64895872e+01] [ 4.28530101e-03 -3.75944694e-05 9.99990817e-01 6.11053887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28862385300002 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:159.94, Y:86.51, Z:0.61 [[ 3.98121848e-01 -9.17330887e-01 -1.74292794e-03 1.59940665e+02] [ 9.17322534e-01 3.98125661e-01 -3.91502477e-03 8.65114416e+01] [ 4.28527748e-03 -4.01701715e-05 9.99990817e-01 6.11967596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31862385300002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:159.95, Y:86.53, Z:0.61 [[ 3.97554661e-01 -9.17576840e-01 -1.74191821e-03 1.59951397e+02] [ 9.17568487e-01 3.97558475e-01 -3.91547398e-03 8.65329818e+01] [ 4.28526259e-03 -4.17143250e-05 9.99990817e-01 6.12433277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34862385300002 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:159.96, Y:86.55, Z:0.61 [[ 3.96882194e-01 -9.17867906e-01 -1.74096766e-03 1.59963088e+02] [ 9.17859554e-01 3.96886010e-01 -3.91589659e-03 8.65546855e+01] [ 4.28524151e-03 -4.38141648e-05 9.99990817e-01 6.11961073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37862385300002 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:159.97, Y:86.58, Z:0.61 [[ 3.96591121e-01 -9.17993712e-01 -1.73997125e-03 1.59973409e+02] [ 9.17985359e-01 3.96594936e-01 -3.91633928e-03 8.65762725e+01] [ 4.28523861e-03 -4.40827431e-05 9.99990817e-01 6.11097887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40862385300002 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:159.98, Y:86.60, Z:0.61 [[ 3.96237110e-01 -9.18146572e-01 -1.73893404e-03 1.59984446e+02] [ 9.18138219e-01 3.96240924e-01 -3.91679976e-03 8.65988971e+01] [ 4.28523311e-03 -4.46003870e-05 9.99990817e-01 6.09930545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43862385300002 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:160.00, Y:86.62, Z:0.61 [[ 3.95745173e-01 -9.18358720e-01 -1.73795407e-03 1.59997355e+02] [ 9.18350366e-01 3.95748986e-01 -3.91723454e-03 8.66197818e+01] [ 4.28522006e-03 -4.58241006e-05 9.99990817e-01 6.07609438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46862385300003 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:160.01, Y:86.64, Z:0.61 [[ 3.95251808e-01 -9.18571168e-01 -1.73697478e-03 1.60008847e+02] [ 9.18562815e-01 3.95255622e-01 -3.91766873e-03 8.66421001e+01] [ 4.28520659e-03 -4.70547903e-05 9.99990817e-01 6.07306764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49862385300003 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:160.02, Y:86.66, Z:0.61 [[ 3.94861895e-01 -9.18738848e-01 -1.73599805e-03 1.60020725e+02] [ 9.18730494e-01 3.94865708e-01 -3.91810149e-03 8.66644047e+01] [ 4.28519815e-03 -4.78053689e-05 9.99990817e-01 6.06911906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52862385300003 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:160.03, Y:86.69, Z:0.61 [[ 3.94756794e-01 -9.18784014e-01 -1.73506381e-03 1.60034648e+02] [ 9.18775659e-01 3.94760604e-01 -3.91851516e-03 8.66864914e+01] [ 4.28520392e-03 -4.72739120e-05 9.99990817e-01 6.10316322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55862385300003 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:160.05, Y:86.71, Z:0.62 [[ 3.95081070e-01 -9.18644622e-01 -1.73408400e-03 1.60045302e+02] [ 9.18636264e-01 3.95084873e-01 -3.91894872e-03 8.67082959e+01] [ 4.28523152e-03 -4.46899916e-05 9.99990817e-01 6.20441150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58862385300003 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:160.06, Y:86.73, Z:0.61 [[ 3.94972373e-01 -9.18691363e-01 -1.73301287e-03 1.60056158e+02] [ 9.18683004e-01 3.94976173e-01 -3.91942233e-03 8.67304001e+01] [ 4.28523823e-03 -4.40259314e-05 9.99990817e-01 6.11092740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.618623853 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:160.07, Y:86.75, Z:0.61 [[ 3.96032335e-01 -9.18234932e-01 -1.73194994e-03 1.60066804e+02] [ 9.18226566e-01 3.96036120e-01 -3.91989197e-03 8.67515897e+01] [ 4.28529647e-03 -3.79184775e-05 9.99990817e-01 6.10245604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.648623853 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:160.08, Y:86.77, Z:0.61 [[ 3.96630925e-01 -9.17976532e-01 -1.73084902e-03 1.60077358e+02] [ 9.17968161e-01 3.96634700e-01 -3.92037802e-03 8.67737861e+01] [ 4.28532981e-03 -3.39211287e-05 9.99990817e-01 6.10591014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.678623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:160.09, Y:86.80, Z:0.61 [[ 3.97539003e-01 -9.17583647e-01 -1.72979852e-03 1.60088657e+02] [ 9.17575270e-01 3.97542766e-01 -3.92084148e-03 8.67970416e+01] [ 4.28536891e-03 -2.85329337e-05 9.99990817e-01 6.11254063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.708623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:160.10, Y:86.82, Z:0.61 [[ 3.98455800e-01 -9.17185906e-01 -1.72879796e-03 1.60099345e+02] [ 9.17177524e-01 3.98459550e-01 -3.92128261e-03 8.68190752e+01] [ 4.28540120e-03 -2.31568340e-05 9.99990817e-01 6.10122582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.738623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:160.11, Y:86.84, Z:0.61 [[ 4.01074735e-01 -9.16043706e-01 -1.72794613e-03 1.60110473e+02] [ 9.16035311e-01 4.01078457e-01 -3.92165794e-03 8.68409341e+01] [ 4.28545204e-03 -9.98175028e-06 9.99990817e-01 6.10158918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.768623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:160.12, Y:86.86, Z:0.61 [[ 4.02264177e-01 -9.15522009e-01 -1.72690721e-03 1.60120580e+02] [ 9.15513608e-01 4.02267884e-01 -3.92211537e-03 8.68640295e+01] [ 4.28546226e-03 -3.28053645e-06 9.99990817e-01 6.11909429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.798623853 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:160.13, Y:86.89, Z:0.61 [[ 4.04981399e-01 -9.14323295e-01 -1.72588662e-03 1.60131099e+02] [ 9.14314881e-01 4.04985076e-01 -3.92256442e-03 8.68876811e+01] [ 4.28545035e-03 1.05618067e-05 9.99990817e-01 6.12403381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.828623853 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:160.14, Y:86.91, Z:0.62 [[ 4.06638325e-01 -9.13587597e-01 -1.72486611e-03 1.60140478e+02] [ 9.13579174e-01 4.06641983e-01 -3.92301312e-03 8.69100580e+01] [ 4.28541910e-03 1.94457233e-05 9.99990817e-01 6.17548874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.858623853 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:160.15, Y:86.93, Z:0.61 [[ 4.07746236e-01 -9.13093662e-01 -1.72380886e-03 1.60150350e+02] [ 9.13085233e-01 4.07749879e-01 -3.92347763e-03 8.69334104e+01] [ 4.28538541e-03 2.57988235e-05 9.99990817e-01 6.13126746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.888623853 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:160.16, Y:86.96, Z:0.61 [[ 4.08859081e-01 -9.12595904e-01 -1.72280851e-03 1.60160087e+02] [ 9.12587469e-01 4.08862709e-01 -3.92391684e-03 8.69566817e+01] [ 4.28534259e-03 3.21155728e-05 9.99990817e-01 6.14700030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.918623853 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:160.17, Y:86.98, Z:0.61 [[ 4.09886042e-01 -9.12135115e-01 -1.72176941e-03 1.60169326e+02] [ 9.12126674e-01 4.09889656e-01 -3.92437273e-03 8.69793183e+01] [ 4.28529364e-03 3.80738024e-05 9.99990817e-01 6.12974294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94862385300002 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:160.18, Y:87.00, Z:0.62 [[ 4.11404709e-01 -9.11451153e-01 -1.72068912e-03 1.60178313e+02] [ 9.11442704e-01 4.11408305e-01 -3.92484634e-03 8.70033678e+01] [ 4.28521151e-03 4.63907255e-05 9.99990817e-01 6.15225009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97862385300002 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:160.19, Y:87.03, Z:0.62 [[ 4.11741738e-01 -9.11298954e-01 -1.71969321e-03 1.60187645e+02] [ 9.11290502e-01 4.11745326e-01 -3.92528265e-03 8.70276968e+01] [ 4.28518162e-03 4.90626125e-05 9.99990817e-01 6.16000020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00862385300002 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:160.20, Y:87.05, Z:0.62 [[ 4.12214645e-01 -9.11085140e-01 -1.71866870e-03 1.60195247e+02] [ 9.11076684e-01 4.12218225e-01 -3.92573118e-03 8.70506313e+01] [ 4.28514190e-03 5.24049091e-05 9.99990817e-01 6.15234671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03862385300002 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:160.20, Y:87.07, Z:0.61 [[ 4.12018050e-01 -9.11174065e-01 -1.71760308e-03 1.60204374e+02] [ 9.11165608e-01 4.12021626e-01 -3.92619736e-03 8.70739708e+01] [ 4.28513882e-03 5.26433244e-05 9.99990817e-01 6.13906756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06862385300002 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:160.21, Y:87.10, Z:0.61 [[ 4.11736106e-01 -9.11301505e-01 -1.71659689e-03 1.60213512e+02] [ 9.11293047e-01 4.11739681e-01 -3.92663723e-03 8.70973408e+01] [ 4.28514147e-03 5.24155180e-05 9.99990817e-01 6.13743956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09862385300002 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:160.22, Y:87.12, Z:0.61 [[ 4.11173041e-01 -9.11555696e-01 -1.71559396e-03 1.60222637e+02] [ 9.11547239e-01 4.11176617e-01 -3.92707538e-03 8.71203320e+01] [ 4.28516005e-03 5.08625908e-05 9.99990817e-01 6.13394961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12862385300002 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:160.23, Y:87.14, Z:0.61 [[ 4.10037185e-01 -9.12067195e-01 -1.71454737e-03 1.60230376e+02] [ 9.12058739e-01 4.10040767e-01 -3.92753226e-03 8.71435739e+01] [ 4.28520765e-03 4.66663558e-05 9.99990817e-01 6.12439938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15862385300002 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:160.24, Y:87.17, Z:0.61 [[ 4.09174661e-01 -9.12454471e-01 -1.71350934e-03 1.60239139e+02] [ 9.12446017e-01 4.09178246e-01 -3.92798508e-03 8.71678525e+01] [ 4.28523829e-03 4.37471872e-05 9.99990817e-01 6.12384169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18862385300002 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:160.25, Y:87.19, Z:0.61 [[ 4.08236028e-01 -9.12874807e-01 -1.71251489e-03 1.60247930e+02] [ 9.12866355e-01 4.08239618e-01 -3.92841859e-03 8.71914603e+01] [ 4.28527079e-03 4.04247756e-05 9.99990817e-01 6.13592654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21862385300003 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:160.26, Y:87.21, Z:0.61 [[ 4.06483172e-01 -9.13656665e-01 -1.71150182e-03 1.60257434e+02] [ 9.13648218e-01 4.06486774e-01 -3.92885991e-03 8.72141430e+01] [ 4.28533189e-03 3.33048555e-05 9.99990817e-01 6.13823481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24862385300003 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:160.27, Y:87.24, Z:0.61 [[ 4.05407392e-01 -9.14134520e-01 -1.71044614e-03 1.60267409e+02] [ 9.14126076e-01 4.05410999e-01 -3.92931945e-03 8.72374006e+01] [ 4.28536023e-03 2.94117303e-05 9.99990817e-01 6.14961400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27862385300003 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:160.28, Y:87.26, Z:0.62 [[ 4.04300697e-01 -9.14624526e-01 -1.70946769e-03 1.60276558e+02] [ 9.14616084e-01 4.04304310e-01 -3.92974508e-03 8.72598550e+01] [ 4.28538639e-03 2.52920269e-05 9.99990817e-01 6.15992259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30862385300003 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:160.29, Y:87.28, Z:0.62 [[ 4.02446110e-01 -9.15442084e-01 -1.70844925e-03 1.60285152e+02] [ 9.15433648e-01 4.02449736e-01 -3.93018780e-03 8.72835791e+01] [ 4.28542426e-03 1.77168616e-05 9.99990817e-01 6.16719082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33862385300003 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:160.29, Y:87.31, Z:0.62 [[ 4.01521451e-01 -9.15848027e-01 -1.70747814e-03 1.60293661e+02] [ 9.15839593e-01 4.01525081e-01 -3.93060965e-03 8.73068836e+01] [ 4.28543639e-03 1.44480013e-05 9.99990817e-01 6.16934185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.368623853 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:160.30, Y:87.33, Z:0.62 [[ 4.00679287e-01 -9.16216785e-01 -1.70646644e-03 1.60302601e+02] [ 9.16208352e-01 4.00682921e-01 -3.93104883e-03 8.73308406e+01] [ 4.28544488e-03 1.16110343e-05 9.99990817e-01 6.18176244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.398623853 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:160.31, Y:87.35, Z:0.62 [[ 4.00053394e-01 -9.16490248e-01 -1.70544208e-03 1.60311869e+02] [ 9.16481815e-01 4.00057029e-01 -3.93149319e-03 8.73537227e+01] [ 4.28544925e-03 9.80053743e-06 9.99990817e-01 6.17616645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.428623853 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:160.32, Y:87.38, Z:0.62 [[ 3.99823614e-01 -9.16590515e-01 -1.70456831e-03 1.60321642e+02] [ 9.16582082e-01 3.99827247e-01 -3.93187199e-03 8.73769098e+01] [ 4.28544943e-03 9.67849779e-06 9.99990817e-01 6.23665188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.458623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:160.33, Y:87.40, Z:0.62 [[ 3.99181117e-01 -9.16870511e-01 -1.70355765e-03 1.60330719e+02] [ 9.16862078e-01 3.99184752e-01 -3.93230983e-03 8.74000622e+01] [ 4.28545316e-03 7.77642029e-06 9.99990817e-01 6.17420345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.488623853 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:160.34, Y:87.42, Z:0.62 [[ 3.98793844e-01 -9.17039024e-01 -1.70250220e-03 1.60339688e+02] [ 9.17030591e-01 3.98797478e-01 -3.93276673e-03 8.74229821e+01] [ 4.28545415e-03 7.11656539e-06 9.99990817e-01 6.16502812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.518623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:160.35, Y:87.45, Z:0.62 [[ 3.97971641e-01 -9.17396140e-01 -1.70145636e-03 1.60347735e+02] [ 9.17387708e-01 3.97975278e-01 -3.93321915e-03 8.74477517e+01] [ 4.28545763e-03 4.41452886e-06 9.99990817e-01 6.16011463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.548623853 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:160.36, Y:87.47, Z:0.62 [[ 3.97206137e-01 -9.17727843e-01 -1.70042885e-03 1.60356720e+02] [ 9.17719412e-01 3.97209776e-01 -3.93366332e-03 8.74722270e+01] [ 4.28545931e-03 1.95864801e-06 9.99990817e-01 6.15429390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.578623853 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:160.37, Y:87.50, Z:0.61 [[ 3.96318866e-01 -9.18111360e-01 -1.69939098e-03 1.60365578e+02] [ 9.18102931e-01 3.96322509e-01 -3.93411164e-03 8.74961473e+01] [ 4.28545948e-03 -1.05317994e-06 9.99990817e-01 6.14676114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.608623853 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:160.37, Y:87.52, Z:0.61 [[ 3.95005220e-01 -9.18677305e-01 -1.69835585e-03 1.60374457e+02] [ 9.18668880e-01 3.95008871e-01 -3.93455846e-03 8.75192103e+01] [ 4.28545519e-03 -6.05553275e-06 9.99990817e-01 6.14329671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.638623853 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:160.38, Y:87.54, Z:0.62 [[ 3.94223141e-01 -9.19013185e-01 -1.69728257e-03 1.60383941e+02] [ 9.19004761e-01 3.94226794e-01 -3.93502139e-03 8.75431316e+01] [ 4.28545081e-03 -8.53426739e-06 9.99990817e-01 6.15303371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.668623853 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:160.39, Y:87.57, Z:0.61 [[ 3.93320313e-01 -9.19399943e-01 -1.69622022e-03 1.60392914e+02] [ 9.19391520e-01 3.93323970e-01 -3.93547927e-03 8.75662064e+01] [ 4.28544349e-03 -1.15865506e-05 9.99990817e-01 6.14981072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69862385300002 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:160.40, Y:87.59, Z:0.62 [[ 3.92428531e-01 -9.19780939e-01 -1.69511234e-03 1.60402314e+02] [ 9.19772517e-01 3.92432191e-01 -3.93595640e-03 8.75899891e+01] [ 4.28543433e-03 -1.45361559e-05 9.99990817e-01 6.15667636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72862385300002 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:160.41, Y:87.61, Z:0.61 [[ 3.90929047e-01 -9.20419258e-01 -1.69406427e-03 1.60410199e+02] [ 9.20410841e-01 3.90932717e-01 -3.93640745e-03 8.76129536e+01] [ 4.28541037e-03 -2.03791047e-05 9.99990817e-01 6.13955717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75862385300002 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:160.42, Y:87.64, Z:0.61 [[ 3.90353087e-01 -9.20663674e-01 -1.69297346e-03 1.60419181e+02] [ 9.20655257e-01 3.90356757e-01 -3.93687653e-03 8.76362248e+01] [ 4.28540284e-03 -2.18730155e-05 9.99990817e-01 6.12842328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78862385300002 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:160.43, Y:87.66, Z:0.61 [[ 3.89882793e-01 -9.20862935e-01 -1.69190642e-03 1.60428412e+02] [ 9.20854518e-01 3.89886463e-01 -3.93733505e-03 8.76595207e+01] [ 4.28539732e-03 -2.29004904e-05 9.99990817e-01 6.12969282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81862385300002 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:160.44, Y:87.68, Z:0.61 [[ 3.89651627e-01 -9.20960776e-01 -1.69086970e-03 1.60437693e+02] [ 9.20952358e-01 3.89655295e-01 -3.93778021e-03 8.76830836e+01] [ 4.28539745e-03 -2.28479677e-05 9.99990817e-01 6.13015784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84862385300002 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:160.45, Y:87.71, Z:0.61 [[ 3.90135837e-01 -9.20755762e-01 -1.68983704e-03 1.60445676e+02] [ 9.20747340e-01 3.90139497e-01 -3.93822331e-03 8.77058517e+01] [ 4.28541398e-03 -1.94709121e-05 9.99990817e-01 6.13917194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87862385300002 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:160.45, Y:87.73, Z:0.61 [[ 3.90310357e-01 -9.20681798e-01 -1.68876005e-03 1.60454276e+02] [ 9.20673373e-01 3.90314010e-01 -3.93868508e-03 8.77294304e+01] [ 4.28542237e-03 -1.74868341e-05 9.99990817e-01 6.14079414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90862385300002 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:160.46, Y:87.75, Z:0.61 [[ 3.90817907e-01 -9.20466466e-01 -1.68773813e-03 1.60463186e+02] [ 9.20458038e-01 3.90821551e-01 -3.93912293e-03 8.77539017e+01] [ 4.28543500e-03 -1.40123433e-05 9.99990817e-01 6.13832363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93862385300002 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:160.47, Y:87.78, Z:0.61 [[ 3.91945838e-01 -9.19986747e-01 -1.68671556e-03 1.60470441e+02] [ 9.19978312e-01 3.91949467e-01 -3.93956074e-03 8.77773110e+01] [ 4.28545094e-03 -7.64730081e-06 9.99990817e-01 6.14930733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96862385300003 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:160.48, Y:87.80, Z:0.62 [[ 3.92222591e-01 -9.19868793e-01 -1.68584203e-03 1.60479143e+02] [ 9.19860356e-01 3.92226214e-01 -3.93993451e-03 8.78013360e+01] [ 4.28545424e-03 -5.40792754e-06 9.99990817e-01 6.15228914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99862385300003 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:160.49, Y:87.83, Z:0.62 [[ 3.92307552e-01 -9.19832564e-01 -1.68483788e-03 1.60487963e+02] [ 9.19824124e-01 3.92311170e-01 -3.94036387e-03 8.78253926e+01] [ 4.28545572e-03 -3.92002095e-06 9.99990817e-01 6.15956715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02862385300003 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:160.50, Y:87.85, Z:0.62 [[ 3.92342995e-01 -9.19817449e-01 -1.68383323e-03 1.60496015e+02] [ 9.19809007e-01 3.92346608e-01 -3.94079314e-03 8.78487773e+01] [ 4.28545655e-03 -2.66238265e-06 9.99990817e-01 6.16837944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05862385300003 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:160.51, Y:87.87, Z:0.62 [[ 3.91787985e-01 -9.20053989e-01 -1.68297195e-03 1.60505033e+02] [ 9.20045548e-01 3.91791600e-01 -3.94116093e-03 8.78719618e+01] [ 4.28545511e-03 -4.31135035e-06 9.99990817e-01 6.16812593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08862385300003 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:160.51, Y:87.90, Z:0.62 [[ 3.91557544e-01 -9.20152086e-01 -1.68193154e-03 1.60514949e+02] [ 9.20143644e-01 3.91561156e-01 -3.94160488e-03 8.78960315e+01] [ 4.28545501e-03 -4.25349034e-06 9.99990817e-01 6.16923909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.118623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:160.52, Y:87.92, Z:0.62 [[ 3.90674941e-01 -9.20527167e-01 -1.68094425e-03 1.60524085e+02] [ 9.20518726e-01 3.90678557e-01 -3.94202588e-03 8.79194335e+01] [ 4.28545079e-03 -7.28992827e-06 9.99990817e-01 6.17391411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.148623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:160.53, Y:87.94, Z:0.62 [[ 3.89076061e-01 -9.21204102e-01 -1.67995550e-03 1.60532618e+02] [ 9.21195665e-01 3.89079687e-01 -3.94244721e-03 8.79440208e+01] [ 4.28543510e-03 -1.36558967e-05 9.99990817e-01 6.19404030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.178623853 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:160.54, Y:87.97, Z:0.62 [[ 3.88199824e-01 -9.21573696e-01 -1.67891478e-03 1.60541109e+02] [ 9.21565262e-01 3.88203454e-01 -3.94289035e-03 8.79666303e+01] [ 4.28542456e-03 -1.66001991e-05 9.99990817e-01 6.17884729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.208623853 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:160.55, Y:87.99, Z:0.62 [[ 3.87328298e-01 -9.21940331e-01 -1.67783061e-03 1.60550415e+02] [ 9.21931898e-01 3.87331931e-01 -3.94335165e-03 8.79900766e+01] [ 4.28541230e-03 -1.94738737e-05 9.99990817e-01 6.18680738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.238623853 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:160.56, Y:88.01, Z:0.62 [[ 3.85618250e-01 -9.22656899e-01 -1.67679931e-03 1.60560336e+02] [ 9.22648471e-01 3.85621895e-01 -3.94379013e-03 8.80126744e+01] [ 4.28537570e-03 -2.62988676e-05 9.99990817e-01 6.16778380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.268623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:160.57, Y:88.04, Z:0.62 [[ 3.84740589e-01 -9.23023224e-01 -1.67572525e-03 1.60570549e+02] [ 9.23014797e-01 3.84744237e-01 -3.94424645e-03 8.80365011e+01] [ 4.28535671e-03 -2.92074938e-05 9.99990817e-01 6.17805831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.298623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:160.58, Y:88.06, Z:0.62 [[ 3.83691904e-01 -9.23459646e-01 -1.67470940e-03 1.60580310e+02] [ 9.23451222e-01 3.83695557e-01 -3.94467773e-03 8.80593442e+01] [ 4.28532926e-03 -3.29715301e-05 9.99990817e-01 6.16635709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.328623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:160.59, Y:88.08, Z:0.62 [[ 3.82771578e-01 -9.23841500e-01 -1.67384046e-03 1.60590736e+02] [ 9.23833078e-01 3.82775236e-01 -3.94504641e-03 8.80825930e+01] [ 4.28530227e-03 -3.62975486e-05 9.99990817e-01 6.17725879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.358623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:160.60, Y:88.11, Z:0.62 [[ 3.82341636e-01 -9.24019521e-01 -1.67283015e-03 1.60599916e+02] [ 9.24011098e-01 3.82345294e-01 -3.94547477e-03 8.81055487e+01] [ 4.28529444e-03 -3.71943399e-05 9.99990817e-01 6.17856122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.388623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:160.61, Y:88.13, Z:0.62 [[ 3.81961908e-01 -9.24176556e-01 -1.67177721e-03 1.60609391e+02] [ 9.24168132e-01 3.81965565e-01 -3.94592087e-03 8.81289172e+01] [ 4.28528889e-03 -3.78117572e-05 9.99990817e-01 6.17669248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.418623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:160.62, Y:88.15, Z:0.62 [[ 3.81460281e-01 -9.24383720e-01 -1.67077860e-03 1.60618722e+02] [ 9.24375297e-01 3.81463938e-01 -3.94634366e-03 8.81522452e+01] [ 4.28527762e-03 -3.90531040e-05 9.99990817e-01 6.17471504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44862385300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:160.63, Y:88.18, Z:0.62 [[ 3.81222999e-01 -9.24481604e-01 -1.66978270e-03 1.60629180e+02] [ 9.24473181e-01 3.81226654e-01 -3.94676500e-03 8.81753251e+01] [ 4.28527731e-03 -3.90717345e-05 9.99990817e-01 6.17550233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47862385300002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:160.64, Y:88.20, Z:0.62 [[ 3.80697404e-01 -9.24698168e-01 -1.66874937e-03 1.60639619e+02] [ 9.24689744e-01 3.80701060e-01 -3.94720186e-03 8.81981963e+01] [ 4.28526498e-03 -4.03859235e-05 9.99990817e-01 6.17821163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:160.65, Y:88.22, Z:0.62 [[ 3.80377801e-01 -9.24829686e-01 -1.66769894e-03 1.60649974e+02] [ 9.24821261e-01 3.80381454e-01 -3.94764562e-03 8.82205986e+01] [ 4.28526160e-03 -4.07266773e-05 9.99990817e-01 6.16843423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53862385300002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:160.66, Y:88.24, Z:0.62 [[ 3.80396956e-01 -9.24821809e-01 -1.66660222e-03 1.60660152e+02] [ 9.24813382e-01 3.80400605e-01 -3.94810857e-03 8.82431119e+01] [ 4.28527340e-03 -3.94475474e-05 9.99990817e-01 6.15552998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:160.67, Y:88.27, Z:0.62 [[ 3.80420385e-01 -9.24812174e-01 -1.66553662e-03 1.60669561e+02] [ 9.24803745e-01 3.80424029e-01 -3.94855805e-03 8.82665208e+01] [ 4.28528470e-03 -3.81825248e-05 9.99990817e-01 6.18072912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59862385300002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:160.68, Y:88.29, Z:0.62 [[ 3.80842645e-01 -9.24638367e-01 -1.66452128e-03 1.60679498e+02] [ 9.24629935e-01 3.80846281e-01 -3.94898602e-03 8.82900425e+01] [ 4.28531072e-03 -3.51239177e-05 9.99990817e-01 6.18655703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62862385300002 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:160.69, Y:88.31, Z:0.62 [[ 3.81426154e-01 -9.24397816e-01 -1.66351144e-03 1.60689450e+02] [ 9.24389380e-01 3.81429780e-01 -3.94941137e-03 8.83137685e+01] [ 4.28534005e-03 -3.13235136e-05 9.99990817e-01 6.22700764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:160.70, Y:88.34, Z:0.62 [[ 3.83544275e-01 -9.23520993e-01 -1.66248620e-03 1.60698621e+02] [ 9.23512547e-01 3.83547878e-01 -3.94984289e-03 8.83362048e+01] [ 4.28540589e-03 -2.03872409e-05 9.99990817e-01 6.18236875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68862385300002 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:160.71, Y:88.36, Z:0.62 [[ 3.84948653e-01 -9.22936495e-01 -1.66161371e-03 1.60708314e+02] [ 9.22928041e-01 3.84952239e-01 -3.95020990e-03 8.83595677e+01] [ 4.28543479e-03 -1.29219058e-05 9.99990817e-01 6.18198673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71862385300003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:160.72, Y:88.38, Z:0.62 [[ 3.86295758e-01 -9.22373476e-01 -1.66059925e-03 1.60717707e+02] [ 9.22365016e-01 3.86299327e-01 -3.95063631e-03 8.83832747e+01] [ 4.28545052e-03 -5.56459959e-06 9.99990817e-01 6.19059230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74862385300003 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:160.73, Y:88.41, Z:0.62 [[ 3.89088453e-01 -9.21198905e-01 -1.65958699e-03 1.60725764e+02] [ 9.21190431e-01 3.89091992e-01 -3.95106150e-03 8.84068688e+01] [ 4.28544553e-03 8.51675075e-06 9.99990817e-01 6.19505415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77862385300003 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:160.73, Y:88.43, Z:0.62 [[ 3.89942192e-01 -9.20837844e-01 -1.65872188e-03 1.60734086e+02] [ 9.20829366e-01 3.89945720e-01 -3.95142465e-03 8.84299657e+01] [ 4.28543286e-03 1.34273775e-05 9.99990817e-01 6.19410904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80862385300003 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:160.74, Y:88.45, Z:0.62 [[ 3.90550487e-01 -9.20580018e-01 -1.65768261e-03 1.60742865e+02] [ 9.20571536e-01 3.90554004e-01 -3.95186059e-03 8.84537949e+01] [ 4.28541848e-03 1.73856518e-05 9.99990817e-01 6.19521062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83862385300003 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:160.75, Y:88.48, Z:0.62 [[ 3.91427249e-01 -9.20207566e-01 -1.65669312e-03 1.60751433e+02] [ 9.20199079e-01 3.91430754e-01 -3.95227536e-03 8.84767900e+01] [ 4.28539433e-03 2.25407881e-05 9.99990817e-01 6.18820648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.868623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:160.76, Y:88.50, Z:0.62 [[ 3.91389157e-01 -9.20223770e-01 -1.65566214e-03 1.60760559e+02] [ 9.20215281e-01 3.91392658e-01 -3.95270721e-03 8.85003869e+01] [ 4.28538913e-03 2.34811454e-05 9.99990817e-01 6.18477599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.898623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:160.77, Y:88.52, Z:0.62 [[ 3.91148673e-01 -9.20326017e-01 -1.65468452e-03 1.60769220e+02] [ 9.20317527e-01 3.91152172e-01 -3.95311642e-03 8.85232836e+01] [ 4.28538933e-03 2.34210729e-05 9.99990817e-01 6.18550219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.928623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:160.78, Y:88.55, Z:0.62 [[ 3.90720463e-01 -9.20507895e-01 -1.65383562e-03 1.60778447e+02] [ 9.20499405e-01 3.90723962e-01 -3.95347153e-03 8.85474249e+01] [ 4.28539497e-03 2.23475191e-05 9.99990817e-01 6.19365399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.958623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:160.79, Y:88.57, Z:0.62 [[ 3.89676697e-01 -9.20950237e-01 -1.65286099e-03 1.60785662e+02] [ 9.20941750e-01 3.89680202e-01 -3.95387896e-03 8.85696475e+01] [ 4.28541297e-03 1.85458081e-05 9.99990817e-01 6.19695176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.988623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:160.79, Y:88.59, Z:0.62 [[ 3.88645207e-01 -9.21386007e-01 -1.65175874e-03 1.60793810e+02] [ 9.21377522e-01 3.88648717e-01 -3.95433938e-03 8.85916868e+01] [ 4.28542689e-03 1.49416685e-05 9.99990817e-01 6.19330097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.018623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:160.80, Y:88.62, Z:0.62 [[ 3.87447447e-01 -9.21890314e-01 -1.65067099e-03 1.60802919e+02] [ 9.21881831e-01 3.87450963e-01 -3.95479339e-03 8.86150327e+01] [ 4.28543979e-03 1.05510071e-05 9.99990817e-01 6.19250977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.048623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:160.81, Y:88.64, Z:0.62 [[ 3.85841757e-01 -9.22563503e-01 -1.64962925e-03 1.60812167e+02] [ 9.22555025e-01 3.85845283e-01 -3.95522788e-03 8.86380341e+01] [ 4.28545055e-03 4.21831826e-06 9.99990817e-01 6.18612568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.078623853 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:160.82, Y:88.66, Z:0.62 [[ 3.82396302e-01 -9.23996943e-01 -1.64859040e-03 1.60821638e+02] [ 9.23988476e-01 3.82399856e-01 -3.95566083e-03 8.86610893e+01] [ 4.28543925e-03 -1.06484567e-05 9.99990817e-01 6.20110330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.108623853 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:160.83, Y:88.68, Z:0.62 [[ 3.80458066e-01 -9.24796705e-01 -1.64755643e-03 1.60831101e+02] [ 9.24788244e-01 3.80461633e-01 -3.95609144e-03 8.86840067e+01] [ 4.28541234e-03 -1.85139226e-05 9.99990817e-01 6.21462675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.138623853 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:160.84, Y:88.71, Z:0.62 [[ 3.78823332e-01 -9.25467543e-01 -1.64651976e-03 1.60840619e+02] [ 9.25459085e-01 3.78826909e-01 -3.95652285e-03 8.87066098e+01] [ 4.28537948e-03 -2.49635049e-05 9.99990817e-01 6.22330120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.168623853 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:160.85, Y:88.73, Z:0.62 [[ 3.76421046e-01 -9.26447240e-01 -1.64548947e-03 1.60849944e+02] [ 9.26438790e-01 3.76424641e-01 -3.95695130e-03 8.87282309e+01] [ 4.28530939e-03 -3.49655276e-05 9.99990817e-01 6.20906545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19862385300002 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:160.86, Y:88.75, Z:0.62 [[ 3.75151415e-01 -9.26962087e-01 -1.64451991e-03 1.60858872e+02] [ 9.26953641e-01 3.75155017e-01 -3.95735421e-03 8.87504306e+01] [ 4.28526721e-03 -3.97866903e-05 9.99990817e-01 6.23809628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22862385300002 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:160.87, Y:88.77, Z:0.62 [[ 3.74517676e-01 -9.27218318e-01 -1.64345945e-03 1.60868538e+02] [ 9.27209872e-01 3.74521279e-01 -3.95779456e-03 8.87729363e+01] [ 4.28525015e-03 -4.15678065e-05 9.99990817e-01 6.19369146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25862385300002 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:160.88, Y:88.80, Z:0.62 [[ 3.73783068e-01 -9.27514701e-01 -1.64242816e-03 1.60878402e+02] [ 9.27506256e-01 3.73786674e-01 -3.95822249e-03 8.87956238e+01] [ 4.28522731e-03 -4.38458528e-05 9.99990817e-01 6.20299684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28862385300002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:160.89, Y:88.82, Z:0.62 [[ 3.74095108e-01 -9.27388892e-01 -1.64140037e-03 1.60887235e+02] [ 9.27380444e-01 3.74098706e-01 -3.95864865e-03 8.88173590e+01] [ 4.28525254e-03 -4.12915076e-05 9.99990817e-01 6.20685833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31862385300002 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:160.90, Y:88.84, Z:0.62 [[ 3.74568277e-01 -9.27197884e-01 -1.64033432e-03 1.60896648e+02] [ 9.27189432e-01 3.74571867e-01 -3.95909033e-03 8.88406737e+01] [ 4.28528327e-03 -3.79509996e-05 9.99990817e-01 6.21204114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34862385300002 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:160.90, Y:88.86, Z:0.62 [[ 3.76616806e-01 -9.26367688e-01 -1.63930903e-03 1.60904914e+02] [ 9.26359227e-01 3.76620373e-01 -3.95951482e-03 8.88625616e+01] [ 4.28536377e-03 -2.73692194e-05 9.99990817e-01 6.21041433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37862385300002 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:160.91, Y:88.89, Z:0.62 [[ 3.77927319e-01 -9.25833818e-01 -1.63824838e-03 1.60913499e+02] [ 9.25825349e-01 3.77930869e-01 -3.95995361e-03 8.88854864e+01] [ 4.28540361e-03 -2.01572283e-05 9.99990817e-01 6.21373255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40862385300002 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:160.92, Y:88.91, Z:0.62 [[ 3.79528126e-01 -9.25178751e-01 -1.63723540e-03 1.60922060e+02] [ 9.25170274e-01 3.79531657e-01 -3.96037239e-03 8.89080386e+01] [ 4.28543504e-03 -1.16488106e-05 9.99990817e-01 6.21234466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43862385300002 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:160.93, Y:88.93, Z:0.62 [[ 3.83114950e-01 -9.23699225e-01 -1.63618908e-03 1.60930043e+02] [ 9.23690733e-01 3.83118443e-01 -3.96080462e-03 8.89315265e+01] [ 4.28544637e-03 6.11076698e-06 9.99990817e-01 6.22580419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46862385300003 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:160.94, Y:88.95, Z:0.62 [[ 3.84952086e-01 -9.22935110e-01 -1.63518998e-03 1.60937769e+02] [ 9.22926610e-01 3.84955559e-01 -3.96121705e-03 8.89537796e+01] [ 4.28542176e-03 1.57184258e-05 9.99990817e-01 6.22881958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49862385300003 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:160.95, Y:88.98, Z:0.62 [[ 3.86516072e-01 -9.22281224e-01 -1.63424983e-03 1.60945548e+02] [ 9.22272716e-01 3.86519526e-01 -3.96160488e-03 8.89768425e+01] [ 4.28538326e-03 2.39999280e-05 9.99990817e-01 6.23371992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52862385300003 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:160.95, Y:89.00, Z:0.62 [[ 3.90112151e-01 -9.20765900e-01 -1.63326355e-03 1.60951884e+02] [ 9.20757376e-01 3.90115568e-01 -3.96201145e-03 8.89999937e+01] [ 4.28524658e-03 4.17893545e-05 9.99990817e-01 6.23168479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55862385300003 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:160.96, Y:89.02, Z:0.62 [[ 3.91368729e-01 -9.20232500e-01 -1.63224012e-03 1.60959924e+02] [ 9.20223970e-01 3.91372130e-01 -3.96243303e-03 8.90238530e+01] [ 4.28517295e-03 4.87458930e-05 9.99990817e-01 6.22545292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58862385300003 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:160.97, Y:89.05, Z:0.62 [[ 3.92730468e-01 -9.19652173e-01 -1.63126010e-03 1.60967372e+02] [ 9.19643636e-01 3.92733852e-01 -3.96283645e-03 8.90471742e+01] [ 4.28508221e-03 5.61486404e-05 9.99990817e-01 6.21543784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.618623853 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:160.97, Y:89.07, Z:0.62 [[ 3.94640748e-01 -9.18834056e-01 -1.63028033e-03 1.60972027e+02] [ 9.18825511e-01 3.94644109e-01 -3.96323948e-03 8.90716131e+01] [ 4.28493993e-03 6.61126357e-05 9.99990817e-01 6.19855301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.648623853 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:160.98, Y:89.10, Z:0.62 [[ 3.95006684e-01 -9.18676801e-01 -1.62930624e-03 1.60979563e+02] [ 9.18668253e-01 3.95010038e-01 -3.96363989e-03 8.90956812e+01] [ 4.28489633e-03 6.88723293e-05 9.99990817e-01 6.19767047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.678623853 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:160.99, Y:89.12, Z:0.63 [[ 3.95190363e-01 -9.18597804e-01 -1.62832994e-03 1.60987670e+02] [ 9.18589254e-01 3.95193712e-01 -3.96404093e-03 8.91193840e+01] [ 4.28486504e-03 7.07843942e-05 9.99990817e-01 6.27438660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.708623853 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:161.00, Y:89.14, Z:0.62 [[ 3.95065780e-01 -9.18651393e-01 -1.62735106e-03 1.60995670e+02] [ 9.18642841e-01 3.95069125e-01 -3.96444275e-03 8.91433257e+01] [ 4.28485701e-03 7.12612643e-05 9.99990817e-01 6.22472937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.738623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:161.00, Y:89.17, Z:0.62 [[ 3.94695954e-01 -9.18810350e-01 -1.62637120e-03 1.61003169e+02] [ 9.18801798e-01 3.94699299e-01 -3.96484468e-03 8.91671050e+01] [ 4.28486790e-03 7.05953701e-05 9.99990817e-01 6.21240825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.768623853 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:161.01, Y:89.19, Z:0.62 [[ 3.94037574e-01 -9.19092895e-01 -1.62535195e-03 1.61009320e+02] [ 9.19084343e-01 3.94040920e-01 -3.96526247e-03 8.91916756e+01] [ 4.28489974e-03 6.86268687e-05 9.99990817e-01 6.24919288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.798623853 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:161.02, Y:89.22, Z:0.62 [[ 3.93303767e-01 -9.19407150e-01 -1.62432128e-03 1.61017091e+02] [ 9.19398600e-01 3.93307116e-01 -3.96568463e-03 8.92152369e+01] [ 4.28493592e-03 6.63199938e-05 9.99990817e-01 6.23307218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.828623853 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:161.02, Y:89.24, Z:0.62 [[ 3.91860682e-01 -9.20023136e-01 -1.62325157e-03 1.61023099e+02] [ 9.20014589e-01 3.91864040e-01 -3.96612244e-03 8.92399334e+01] [ 4.28501832e-03 6.07523125e-05 9.99990817e-01 6.23021338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.858623853 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:161.03, Y:89.26, Z:0.62 [[ 3.90584331e-01 -9.20565722e-01 -1.62227500e-03 1.61030738e+02] [ 9.20557178e-01 3.90587696e-01 -3.96652185e-03 8.92648463e+01] [ 4.28508470e-03 5.58643798e-05 9.99990817e-01 6.24256007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.888623853 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:161.04, Y:89.29, Z:0.62 [[ 3.88961584e-01 -9.21252548e-01 -1.62127508e-03 1.61038492e+02] [ 9.21244009e-01 3.88964960e-01 -3.96693051e-03 8.92887494e+01] [ 4.28516404e-03 4.93936198e-05 9.99990817e-01 6.24743242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.918623853 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:161.05, Y:89.31, Z:0.62 [[ 3.87266989e-01 -9.21966189e-01 -1.62021843e-03 1.61046895e+02] [ 9.21957654e-01 3.87270376e-01 -3.96736203e-03 8.93128095e+01] [ 4.28523626e-03 4.26555671e-05 9.99990817e-01 6.24579773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94862385300002 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:161.05, Y:89.34, Z:0.62 [[ 3.83915748e-01 -9.23366708e-01 -1.61916492e-03 1.61054019e+02] [ 9.23358183e-01 3.83919162e-01 -3.96779195e-03 8.93359755e+01] [ 4.28535542e-03 2.82286327e-05 9.99990817e-01 6.23711445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97862385300002 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:161.06, Y:89.36, Z:0.62 [[ 3.83673003e-01 -9.23467600e-01 -1.61806790e-03 1.61063565e+02] [ 9.23459075e-01 3.83676414e-01 -3.96823926e-03 8.93601870e+01] [ 4.28535488e-03 2.82867934e-05 9.99990817e-01 6.23822763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00862385300002 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:161.07, Y:89.38, Z:0.62 [[ 3.81917517e-01 -9.24194999e-01 -1.61702461e-03 1.61071300e+02] [ 9.24186478e-01 3.81920940e-01 -3.96866435e-03 8.93831757e+01] [ 4.28539530e-03 2.12701511e-05 9.99990817e-01 6.23447050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03862385300002 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:161.08, Y:89.41, Z:0.63 [[ 3.80173186e-01 -9.24913908e-01 -1.61613463e-03 1.61078879e+02] [ 9.24905392e-01 3.80176621e-01 -3.96902674e-03 8.94074078e+01] [ 4.28542463e-03 1.41459126e-05 9.99990817e-01 6.30928414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06862385300002 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:161.09, Y:89.43, Z:0.62 [[ 3.79124601e-01 -9.25344222e-01 -1.61510873e-03 1.61086565e+02] [ 9.25335708e-01 3.79128041e-01 -3.96944416e-03 8.94308123e+01] [ 4.28543523e-03 1.03961527e-05 9.99990817e-01 6.23162744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09862385300002 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:161.09, Y:89.46, Z:0.62 [[ 3.77640422e-01 -9.25950920e-01 -1.61422816e-03 1.61093236e+02] [ 9.25942410e-01 3.77643872e-01 -3.96980222e-03 8.94551414e+01] [ 4.28544539e-03 4.47546861e-06 9.99990817e-01 6.24682995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12862385300002 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:161.10, Y:89.48, Z:0.62 [[ 3.77164437e-01 -9.26144905e-01 -1.61319298e-03 1.61101049e+02] [ 9.26136395e-01 3.77167887e-01 -3.97022284e-03 8.94785030e+01] [ 4.28544624e-03 3.39013416e-06 9.99990817e-01 6.24691842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15862385300002 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:161.11, Y:89.50, Z:0.63 [[ 3.77142225e-01 -9.26153952e-01 -1.61230809e-03 1.61109513e+02] [ 9.26145441e-01 3.77145671e-01 -3.97058216e-03 8.95026911e+01] [ 4.28544538e-03 4.24240587e-06 9.99990817e-01 6.25592503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18862385300002 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:161.12, Y:89.53, Z:0.63 [[ 3.77466716e-01 -9.26021750e-01 -1.61126419e-03 1.61115113e+02] [ 9.26013236e-01 3.77470155e-01 -3.97100573e-03 8.95269157e+01] [ 4.28544182e-03 6.87052686e-06 9.99990817e-01 6.25027549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21862385300003 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:161.12, Y:89.55, Z:0.63 [[ 3.77879243e-01 -9.25853490e-01 -1.61018098e-03 1.61122442e+02] [ 9.25844973e-01 3.77882673e-01 -3.97144491e-03 8.95516716e+01] [ 4.28543562e-03 9.94863193e-06 9.99990817e-01 6.25359461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24862385300003 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:161.13, Y:89.58, Z:0.63 [[ 3.78141437e-01 -9.25746436e-01 -1.60916320e-03 1.61129431e+02] [ 9.25737916e-01 3.78144860e-01 -3.97185725e-03 8.95766061e+01] [ 4.28542949e-03 1.22604261e-05 9.99990817e-01 6.25522306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27862385300003 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:161.14, Y:89.60, Z:0.63 [[ 3.78466182e-01 -9.25613722e-01 -1.60811813e-03 1.61136059e+02] [ 9.25605199e-01 3.78469598e-01 -3.97228033e-03 8.96000651e+01] [ 4.28542101e-03 1.48912656e-05 9.99990817e-01 6.25232064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30862385300003 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:161.14, Y:89.62, Z:0.63 [[ 3.78911504e-01 -9.25431515e-01 -1.60702766e-03 1.61141998e+02] [ 9.25422988e-01 3.78914912e-01 -3.97272145e-03 8.96248339e+01] [ 4.28540837e-03 1.81295236e-05 9.99990817e-01 6.25535336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33862385300003 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:161.15, Y:89.65, Z:0.63 [[ 3.78914795e-01 -9.25430170e-01 -1.60599618e-03 1.61149233e+02] [ 9.25421641e-01 3.78918198e-01 -3.97313839e-03 8.96478470e+01] [ 4.28540331e-03 1.92572976e-05 9.99990817e-01 6.25630280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.368623853 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:161.16, Y:89.67, Z:0.63 [[ 3.78739700e-01 -9.25501845e-01 -1.60492136e-03 1.61155979e+02] [ 9.25493315e-01 3.78743099e-01 -3.97357250e-03 8.96713833e+01] [ 4.28540157e-03 1.96056631e-05 9.99990817e-01 6.33465763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.398623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:161.16, Y:89.70, Z:0.63 [[ 3.78636978e-01 -9.25543876e-01 -1.60386354e-03 1.61163010e+02] [ 9.25535345e-01 3.78640374e-01 -3.97399943e-03 8.96960042e+01] [ 4.28539833e-03 2.02707378e-05 9.99990817e-01 6.25729116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.428623853 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:161.17, Y:89.72, Z:0.62 [[ 3.78397465e-01 -9.25641826e-01 -1.60286610e-03 1.61167732e+02] [ 9.25633294e-01 3.78400859e-01 -3.97440169e-03 8.97214688e+01] [ 4.28539835e-03 2.02372967e-05 9.99990817e-01 6.24603478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.458623853 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:161.17, Y:89.74, Z:0.62 [[ 3.78140494e-01 -9.25746834e-01 -1.60187337e-03 1.61174185e+02] [ 9.25738301e-01 3.78143887e-01 -3.97480177e-03 8.97449673e+01] [ 4.28539878e-03 2.01179686e-05 9.99990817e-01 6.24073551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.488623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:161.18, Y:89.77, Z:0.63 [[ 3.77579559e-01 -9.25975763e-01 -1.60083990e-03 1.61180875e+02] [ 9.25967231e-01 3.77582952e-01 -3.97521795e-03 8.97695058e+01] [ 4.28540533e-03 1.86357511e-05 9.99990817e-01 6.25580283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.518623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:161.19, Y:89.79, Z:0.62 [[ 3.76359967e-01 -9.26472134e-01 -1.59977016e-03 1.61186402e+02] [ 9.26463604e-01 3.76363367e-01 -3.97564841e-03 8.97935209e+01] [ 4.28542235e-03 1.41460790e-05 9.99990817e-01 6.23379372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.548623853 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:161.19, Y:89.82, Z:0.62 [[ 3.75045365e-01 -9.27005080e-01 -1.59865848e-03 1.61194078e+02] [ 9.26996553e-01 3.75048772e-01 -3.97609538e-03 8.98177832e+01] [ 4.28543552e-03 9.26524081e-06 9.99990817e-01 6.24641565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.578623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:161.20, Y:89.84, Z:0.63 [[ 3.73697987e-01 -9.27549062e-01 -1.59762540e-03 1.61201185e+02] [ 9.27540538e-01 3.73701402e-01 -3.97651044e-03 8.98420299e+01] [ 4.28544338e-03 4.15162290e-06 9.99990817e-01 6.26751266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.608623853 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:161.21, Y:89.87, Z:0.63 [[ 3.70675228e-01 -9.28761178e-01 -1.59655186e-03 1.61205239e+02] [ 9.28752664e-01 3.70678666e-01 -3.97694141e-03 8.98666043e+01] [ 4.28543650e-03 -8.64813116e-06 9.99990817e-01 6.27553160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.638623853 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:161.21, Y:89.89, Z:0.63 [[ 3.68987981e-01 -9.29432797e-01 -1.59543821e-03 1.61212346e+02] [ 9.29424287e-01 3.68991430e-01 -3.97738812e-03 8.98902412e+01] [ 4.28541800e-03 -1.52306092e-05 9.99990817e-01 6.26461141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.668623853 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:161.22, Y:89.91, Z:0.63 [[ 3.67083902e-01 -9.30186469e-01 -1.59453860e-03 1.61220001e+02] [ 9.30177964e-01 3.67087364e-01 -3.97774875e-03 8.99146184e+01] [ 4.28538303e-03 -2.30371333e-05 9.99990817e-01 6.33443127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69862385300002 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:161.23, Y:89.94, Z:0.62 [[ 3.63594471e-01 -9.31555968e-01 -1.59347766e-03 1.61226551e+02] [ 9.31547474e-01 3.63597961e-01 -3.97817371e-03 8.99382840e+01] [ 4.28527669e-03 -3.79581183e-05 9.99990817e-01 6.23730650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72862385300002 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:161.23, Y:89.96, Z:0.62 [[ 3.61584811e-01 -9.32337862e-01 -1.59237291e-03 1.61234693e+02] [ 9.32329374e-01 3.61588314e-01 -3.97861587e-03 8.99616061e+01] [ 4.28519765e-03 -4.60089740e-05 9.99990817e-01 6.22723418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75862385300002 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:161.24, Y:89.98, Z:0.62 [[ 3.59632588e-01 -9.33092637e-01 -1.59130379e-03 1.61242757e+02] [ 9.33084155e-01 3.59636105e-01 -3.97904343e-03 8.99833603e+01] [ 4.28510643e-03 -5.38266646e-05 9.99990817e-01 6.21938910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78862385300002 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:161.25, Y:90.01, Z:0.62 [[ 3.56269810e-01 -9.34381771e-01 -1.59019715e-03 1.61251403e+02] [ 9.34373299e-01 3.56273353e-01 -3.97948564e-03 9.00072559e+01] [ 4.28490371e-03 -6.80671631e-05 9.99990817e-01 6.24214433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81862385300002 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:161.26, Y:90.03, Z:0.62 [[ 3.54570632e-01 -9.35027883e-01 -1.58913357e-03 1.61259632e+02] [ 9.35019415e-01 3.54574186e-01 -3.97991032e-03 9.00308156e+01] [ 4.28479286e-03 -7.47114171e-05 9.99990817e-01 6.24387252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84862385300002 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:161.27, Y:90.05, Z:0.63 [[ 3.53342864e-01 -9.35492543e-01 -1.58803015e-03 1.61267724e+02] [ 9.35484079e-01 3.53346424e-01 -3.98035055e-03 9.00546438e+01] [ 4.28471303e-03 -7.91484569e-05 9.99990817e-01 6.25152897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87862385300002 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:161.28, Y:90.08, Z:0.63 [[ 3.51934895e-01 -9.36023136e-01 -1.58698762e-03 1.61275699e+02] [ 9.36014675e-01 3.51938463e-01 -3.98076617e-03 9.00786939e+01] [ 4.28461122e-03 -8.44731749e-05 9.99990817e-01 6.26367733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90862385300002 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:161.28, Y:90.10, Z:0.63 [[ 3.51466577e-01 -9.36199087e-01 -1.58593465e-03 1.61284308e+02] [ 9.36190626e-01 3.51470145e-01 -3.98118563e-03 9.01021835e+01] [ 4.28459103e-03 -8.54834696e-05 9.99990817e-01 6.33592600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93862385300002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:161.29, Y:90.13, Z:0.63 [[ 3.51202717e-01 -9.36298104e-01 -1.58488851e-03 1.61292987e+02] [ 9.36289642e-01 3.51206282e-01 -3.98160205e-03 9.01255283e+01] [ 4.28458925e-03 -8.55652406e-05 9.99990817e-01 6.26611918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96862385300003 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:161.30, Y:90.15, Z:0.63 [[ 3.51518758e-01 -9.36179499e-01 -1.58399519e-03 1.61301809e+02] [ 9.36171034e-01 3.51522317e-01 -3.98195740e-03 9.01499712e+01] [ 4.28463654e-03 -8.31576942e-05 9.99990817e-01 6.26215148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99862385300003 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:161.31, Y:90.17, Z:0.62 [[ 3.52538905e-01 -9.35795819e-01 -1.58297724e-03 1.61309445e+02] [ 9.35787348e-01 3.52542451e-01 -3.98236204e-03 9.01740630e+01] [ 4.28474442e-03 -7.73925173e-05 9.99990817e-01 6.24581899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02862385300003 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:161.32, Y:90.20, Z:0.62 [[ 3.53353091e-01 -9.35488691e-01 -1.58196368e-03 1.61317526e+02] [ 9.35480215e-01 3.53356625e-01 -3.98276462e-03 9.01980639e+01] [ 4.28482861e-03 -7.25735323e-05 9.99990817e-01 6.24237405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05862385300003 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:161.32, Y:90.22, Z:0.62 [[ 3.54906386e-01 -9.34900507e-01 -1.58093680e-03 1.61324387e+02] [ 9.34892024e-01 3.54909902e-01 -3.98317220e-03 9.02215426e+01] [ 4.28495983e-03 -6.43519542e-05 9.99990817e-01 6.23391414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08862385300003 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:161.33, Y:90.24, Z:0.62 [[ 3.55162755e-01 -9.34803146e-01 -1.57986866e-03 1.61332569e+02] [ 9.34794660e-01 3.55166264e-01 -3.98359581e-03 9.02444081e+01] [ 4.28499395e-03 -6.20279212e-05 9.99990817e-01 6.23343109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.118623853 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:161.34, Y:90.27, Z:0.62 [[ 3.54869081e-01 -9.34914671e-01 -1.57880682e-03 1.61341139e+02] [ 9.34906185e-01 3.54872588e-01 -3.98401661e-03 9.02679257e+01] [ 4.28499084e-03 -6.22319454e-05 9.99990817e-01 6.23694687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.148623853 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:161.35, Y:90.29, Z:0.62 [[ 3.54426250e-01 -9.35082640e-01 -1.57779907e-03 1.61350517e+02] [ 9.35074154e-01 3.54429756e-01 -3.98441566e-03 9.02920041e+01] [ 4.28497686e-03 -6.31776321e-05 9.99990817e-01 6.24311751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.178623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:161.36, Y:90.31, Z:0.63 [[ 3.53208767e-01 -9.35543201e-01 -1.57679200e-03 1.61359179e+02] [ 9.35534717e-01 3.53212280e-01 -3.98481416e-03 9.03149930e+01] [ 4.28490810e-03 -6.76723574e-05 9.99990817e-01 6.25204717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.208623853 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:161.37, Y:90.34, Z:0.62 [[ 3.52310804e-01 -9.35881731e-01 -1.57574232e-03 1.61367533e+02] [ 9.35873249e-01 3.52314321e-01 -3.98522920e-03 9.03368690e+01] [ 4.28485979e-03 -7.06557831e-05 9.99990817e-01 6.24773582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.238623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:161.38, Y:90.36, Z:0.63 [[ 3.51200106e-01 -9.36299101e-01 -1.57460771e-03 1.61376870e+02] [ 9.36290620e-01 3.51203628e-01 -3.98567745e-03 9.03598219e+01] [ 4.28479415e-03 -7.45200858e-05 9.99990817e-01 6.25325677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.268623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:161.39, Y:90.38, Z:0.62 [[ 3.49949062e-01 -9.36767409e-01 -1.57352682e-03 1.61386334e+02] [ 9.36758931e-01 3.49952591e-01 -3.98610413e-03 9.03812102e+01] [ 4.28471223e-03 -7.90819016e-05 9.99990817e-01 6.24567585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.298623853 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:161.40, Y:90.40, Z:0.62 [[ 3.49350132e-01 -9.36990935e-01 -1.57240968e-03 1.61395648e+02] [ 9.36982458e-01 3.49353661e-01 -3.98654477e-03 9.04040550e+01] [ 4.28468339e-03 -8.06203444e-05 9.99990817e-01 6.24694889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.328623853 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:161.40, Y:90.43, Z:0.63 [[ 3.48901854e-01 -9.37157952e-01 -1.57132783e-03 1.61404932e+02] [ 9.37149475e-01 3.48905383e-01 -3.98697114e-03 9.04272906e+01] [ 4.28466645e-03 -8.15074289e-05 9.99990817e-01 6.25359415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.358623853 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:161.42, Y:90.45, Z:0.63 [[ 3.48660515e-01 -9.37247769e-01 -1.57024629e-03 1.61415317e+02] [ 9.37239290e-01 3.48664041e-01 -3.98739705e-03 9.04510547e+01] [ 4.28466741e-03 -8.14486094e-05 9.99990817e-01 6.27251155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.388623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:161.42, Y:90.47, Z:0.63 [[ 3.48498281e-01 -9.37308106e-01 -1.56920726e-03 1.61424369e+02] [ 9.37299626e-01 3.48501804e-01 -3.98780591e-03 9.04739559e+01] [ 4.28467437e-03 -8.10738690e-05 9.99990817e-01 6.26658807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.418623853 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:161.43, Y:90.50, Z:0.63 [[ 3.48488970e-01 -9.37311570e-01 -1.56812729e-03 1.61433408e+02] [ 9.37303088e-01 3.48492489e-01 -3.98823054e-03 9.04968968e+01] [ 4.28469522e-03 -7.99562001e-05 9.99990817e-01 6.27420711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44862385300002 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:161.44, Y:90.52, Z:0.63 [[ 3.48084995e-01 -9.37461669e-01 -1.56703746e-03 1.61443331e+02] [ 9.37453187e-01 3.48088513e-01 -3.98865871e-03 9.05186006e+01] [ 4.28468239e-03 -8.06320093e-05 9.99990817e-01 6.27992692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47862385300002 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:161.45, Y:90.54, Z:0.63 [[ 3.47859168e-01 -9.37545491e-01 -1.56590625e-03 1.61453251e+02] [ 9.37537008e-01 3.47862683e-01 -3.98910276e-03 9.05416433e+01] [ 4.28468566e-03 -8.04490946e-05 9.99990817e-01 6.27704845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50862385300002 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:161.46, Y:90.56, Z:0.63 [[ 3.47653893e-01 -9.37621631e-01 -1.56486615e-03 1.61463261e+02] [ 9.37613146e-01 3.47657405e-01 -3.98951074e-03 9.05642472e+01] [ 4.28468887e-03 -8.02701330e-05 9.99990817e-01 6.27775460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53862385300002 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:161.47, Y:90.59, Z:0.63 [[ 3.47388645e-01 -9.37719939e-01 -1.56382266e-03 1.61472938e+02] [ 9.37711454e-01 3.47392155e-01 -3.98991972e-03 9.05861715e+01] [ 4.28468701e-03 -8.03616173e-05 9.99990817e-01 6.27554361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56862385300002 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:161.48, Y:90.61, Z:0.64 [[ 3.48211469e-01 -9.37414706e-01 -1.56274348e-03 1.61484228e+02] [ 9.37406216e-01 3.48214968e-01 -3.99034237e-03 9.06093790e+01] [ 4.28477629e-03 -7.54424709e-05 9.99990817e-01 6.37196399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59862385300002 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:161.49, Y:90.63, Z:0.63 [[ 3.48441251e-01 -9.37329321e-01 -1.56169833e-03 1.61493965e+02] [ 9.37320828e-01 3.48444743e-01 -3.99075136e-03 9.06329074e+01] [ 4.28481384e-03 -7.32699768e-05 9.99990817e-01 6.28996009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62862385300002 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:161.50, Y:90.66, Z:0.63 [[ 3.49530863e-01 -9.36923551e-01 -1.56062218e-03 1.61503196e+02] [ 9.36915053e-01 3.49534340e-01 -3.99117216e-03 9.06553655e+01] [ 4.28491424e-03 -6.71325668e-05 9.99990817e-01 6.32739103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65862385300002 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:161.51, Y:90.68, Z:0.63 [[ 3.51846393e-01 -9.36056453e-01 -1.55970137e-03 1.61513283e+02] [ 9.36047944e-01 3.51849846e-01 -3.99153197e-03 9.06784493e+01] [ 4.28507994e-03 -5.55491309e-05 9.99990817e-01 6.29258089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68862385300002 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:161.52, Y:90.70, Z:0.63 [[ 3.53396095e-01 -9.35472485e-01 -1.55866667e-03 1.61522606e+02] [ 9.35463969e-01 3.53399529e-01 -3.99193597e-03 9.07022691e+01] [ 4.28517833e-03 -4.73419274e-05 9.99990817e-01 6.29179870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71862385300003 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:161.53, Y:90.73, Z:0.63 [[ 3.55248457e-01 -9.34770618e-01 -1.55763300e-03 1.61531681e+02] [ 9.34762093e-01 3.55251869e-01 -3.99233926e-03 9.07260363e+01] [ 4.28527347e-03 -3.77439238e-05 9.99990817e-01 6.29295256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74862385300003 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:161.54, Y:90.75, Z:0.63 [[ 3.59126680e-01 -9.33287525e-01 -1.55659643e-03 1.61540477e+02] [ 9.33278984e-01 3.59130053e-01 -3.99274337e-03 9.07504881e+01] [ 4.28539814e-03 -1.88380645e-05 9.99990817e-01 6.29850383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77862385300003 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:161.55, Y:90.77, Z:0.63 [[ 3.60740206e-01 -9.32665044e-01 -1.55553814e-03 1.61548927e+02] [ 9.32656495e-01 3.60743560e-01 -3.99315563e-03 9.07732433e+01] [ 4.28542704e-03 -1.02909676e-05 9.99990817e-01 6.29467194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80862385300003 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:161.56, Y:90.80, Z:0.63 [[ 3.62078803e-01 -9.32146192e-01 -1.55443670e-03 1.61557713e+02] [ 9.32137638e-01 3.62082140e-01 -3.99358435e-03 9.07969973e+01] [ 4.28543821e-03 -2.95670773e-06 9.99990817e-01 6.29197636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83862385300003 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:161.57, Y:90.82, Z:0.63 [[ 3.63199892e-01 -9.31709947e-01 -1.55340979e-03 1.61566546e+02] [ 9.31701387e-01 3.63203214e-01 -3.99398376e-03 9.08211126e+01] [ 4.28543782e-03 3.30041241e-06 9.99990817e-01 6.29318263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.868623853 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:161.58, Y:90.85, Z:0.63 [[ 3.62956317e-01 -9.31804863e-01 -1.55236431e-03 1.61575669e+02] [ 9.31796301e-01 3.62959637e-01 -3.99439007e-03 9.08454723e+01] [ 4.28543767e-03 3.30178534e-06 9.99990817e-01 6.29429593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.898623853 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:161.58, Y:90.87, Z:0.63 [[ 3.65264371e-01 -9.30902537e-01 -1.55132000e-03 1.61582723e+02] [ 9.30893965e-01 3.65267665e-01 -3.99479561e-03 9.08698756e+01] [ 4.28541240e-03 1.50420745e-05 9.99990817e-01 6.28697235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.928623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:161.59, Y:90.89, Z:0.63 [[ 3.65939312e-01 -9.30637425e-01 -1.55027843e-03 1.61590635e+02] [ 9.30628850e-01 3.65942595e-01 -3.99519977e-03 9.08942434e+01] [ 4.28539534e-03 1.92668246e-05 9.99990817e-01 6.28254013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.958623853 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:161.60, Y:90.92, Z:0.63 [[ 3.66468943e-01 -9.30428994e-01 -1.54923147e-03 1.61598393e+02] [ 9.30420415e-01 3.66472217e-01 -3.99560571e-03 9.09173875e+01] [ 4.28537770e-03 2.28288131e-05 9.99990817e-01 6.25728484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.988623853 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:161.61, Y:90.94, Z:0.63 [[ 3.67106959e-01 -9.30177447e-01 -1.54814353e-03 1.61606078e+02] [ 9.30168864e-01 3.67110223e-01 -3.99602721e-03 9.09422033e+01] [ 4.28535370e-03 2.69344924e-05 9.99990817e-01 6.27455521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.018623853 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:161.61, Y:90.97, Z:0.63 [[ 3.66840415e-01 -9.30282600e-01 -1.54711178e-03 1.61614351e+02] [ 9.30274016e-01 3.66843676e-01 -3.99642662e-03 9.09664335e+01] [ 4.28535432e-03 2.68129056e-05 9.99990817e-01 6.27535086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.048623853 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:161.62, Y:90.99, Z:0.63 [[ 3.66433457e-01 -9.30442976e-01 -1.54607821e-03 1.61623020e+02] [ 9.30434392e-01 3.66436718e-01 -3.99682643e-03 9.09903557e+01] [ 4.28535891e-03 2.60465912e-05 9.99990817e-01 6.27078047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.078623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:161.63, Y:91.01, Z:0.63 [[ 3.64739150e-01 -9.31108461e-01 -1.54504566e-03 1.61629918e+02] [ 9.31099881e-01 3.64742422e-01 -3.99722555e-03 9.10143618e+01] [ 4.28539422e-03 1.93528230e-05 9.99990817e-01 6.27760262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.108623853 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:161.64, Y:91.04, Z:0.63 [[ 3.63477434e-01 -9.31601723e-01 -1.54402290e-03 1.61638082e+02] [ 9.31593146e-01 3.63480713e-01 -3.99762057e-03 9.10386737e+01] [ 4.28541276e-03 1.46437204e-05 9.99990817e-01 6.28311761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.138623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:161.65, Y:91.06, Z:0.63 [[ 3.61968017e-01 -9.32189237e-01 -1.54300043e-03 1.61646591e+02] [ 9.32180664e-01 3.61971306e-01 -3.99801519e-03 9.10626947e+01] [ 4.28542861e-03 8.79846536e-06 9.99990817e-01 6.28880432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.168623853 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:161.66, Y:91.09, Z:0.64 [[ 3.59028073e-01 -9.33325487e-01 -1.54198636e-03 1.61655240e+02] [ 9.33316922e-01 3.59031384e-01 -3.99840626e-03 9.10868145e+01] [ 4.28543597e-03 -3.62186638e-06 9.99990817e-01 6.38057165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19862385300002 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:161.66, Y:91.11, Z:0.63 [[ 3.57151913e-01 -9.34045040e-01 -1.54089956e-03 1.61663992e+02] [ 9.34036480e-01 3.57155237e-01 -3.99882505e-03 9.11095734e+01] [ 4.28542305e-03 -1.10683893e-05 9.99990817e-01 6.27958212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22862385300002 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:161.67, Y:91.13, Z:0.63 [[ 3.55105434e-01 -9.34824989e-01 -1.53976668e-03 1.61673369e+02] [ 9.34816435e-01 3.55108771e-01 -3.99926122e-03 9.11336124e+01] [ 4.28539398e-03 -1.92398077e-05 9.99990817e-01 6.28066631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25862385300002 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:161.68, Y:91.16, Z:0.63 [[ 3.53344700e-01 -9.35491932e-01 -1.53871194e-03 1.61682587e+02] [ 9.35483382e-01 3.53348050e-01 -3.99966699e-03 9.11563022e+01] [ 4.28535706e-03 -2.61783172e-05 9.99990817e-01 6.27205170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28862385300002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:161.69, Y:91.18, Z:0.63 [[ 3.50418823e-01 -9.36591845e-01 -1.53761273e-03 1.61691413e+02] [ 9.36583304e-01 3.50422195e-01 -4.00008952e-03 9.11802192e+01] [ 4.28526485e-03 -3.83957450e-05 9.99990817e-01 6.29074942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31862385300002 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:161.70, Y:91.20, Z:0.63 [[ 3.49241842e-01 -9.37031363e-01 -1.53654109e-03 1.61699494e+02] [ 9.37022824e-01 3.49245220e-01 -4.00050112e-03 9.12034552e+01] [ 4.28522465e-03 -4.26316844e-05 9.99990817e-01 6.27975465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34862385300002 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:161.71, Y:91.23, Z:0.63 [[ 3.47962042e-01 -9.37507365e-01 -1.53542684e-03 1.61707671e+02] [ 9.37498829e-01 3.47965426e-01 -4.00092874e-03 9.12274853e+01] [ 4.28517561e-03 -4.72895282e-05 9.99990817e-01 6.29817359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37862385300002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:161.72, Y:91.25, Z:0.63 [[ 3.47752219e-01 -9.37585218e-01 -1.53437551e-03 1.61715946e+02] [ 9.37576680e-01 3.47755601e-01 -4.00133189e-03 9.12501645e+01] [ 4.28517730e-03 -4.71226552e-05 9.99990817e-01 6.30803424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:161.72, Y:91.27, Z:0.63 [[ 3.47635832e-01 -9.37628379e-01 -1.53328381e-03 1.61723845e+02] [ 9.37619840e-01 3.47639211e-01 -4.00175017e-03 9.12730069e+01] [ 4.28518410e-03 -4.64855696e-05 9.99990817e-01 6.30404828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:161.73, Y:91.30, Z:0.63 [[ 3.47890982e-01 -9.37533742e-01 -1.53220148e-03 1.61732745e+02] [ 9.37525201e-01 3.47894353e-01 -4.00216454e-03 9.12973353e+01] [ 4.28520854e-03 -4.41605462e-05 9.99990817e-01 6.30406433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46862385300003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:161.74, Y:91.32, Z:0.63 [[ 3.48754716e-01 -9.37212785e-01 -1.53115311e-03 1.61741466e+02] [ 9.37204239e-01 3.48758075e-01 -4.00256558e-03 9.13213903e+01] [ 4.28525765e-03 -3.90895644e-05 9.99990817e-01 6.30230965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49862385300003 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:161.75, Y:91.34, Z:0.63 [[ 3.49118758e-01 -9.37077239e-01 -1.53006972e-03 1.61749373e+02] [ 9.37068690e-01 3.49122109e-01 -4.00297969e-03 9.13444672e+01] [ 4.28528232e-03 -3.62651317e-05 9.99990817e-01 6.29652831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52862385300003 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:161.76, Y:91.37, Z:0.63 [[ 3.50083429e-01 -9.36717276e-01 -1.52894390e-03 1.61756053e+02] [ 9.36708722e-01 3.50086766e-01 -4.00340965e-03 9.13682817e+01] [ 4.28532601e-03 -3.06477132e-05 9.99990817e-01 6.29210780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55862385300003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:161.76, Y:91.39, Z:0.63 [[ 3.50114813e-01 -9.36705548e-01 -1.52786671e-03 1.61764211e+02] [ 9.36696991e-01 3.50118146e-01 -4.00382071e-03 9.13921877e+01] [ 4.28533493e-03 -2.93512142e-05 9.99990817e-01 6.29522466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58862385300003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:161.77, Y:91.42, Z:0.63 [[ 3.50276542e-01 -9.36645084e-01 -1.52682184e-03 1.61772394e+02] [ 9.36636525e-01 3.50279869e-01 -4.00421912e-03 9.14155164e+01] [ 4.28534711e-03 -2.74930762e-05 9.99990817e-01 6.29607640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.618623853 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:161.78, Y:91.44, Z:0.63 [[ 3.50099582e-01 -9.36711244e-01 -1.52573450e-03 1.61779816e+02] [ 9.36702684e-01 3.50102906e-01 -4.00463339e-03 9.14387628e+01] [ 4.28534921e-03 -2.71391259e-05 9.99990817e-01 6.29035455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.648623853 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:161.79, Y:91.46, Z:0.63 [[ 3.49741446e-01 -9.36845023e-01 -1.52465987e-03 1.61788196e+02] [ 9.36836462e-01 3.49744768e-01 -4.00504249e-03 9.14622661e+01] [ 4.28534593e-03 -2.76276022e-05 9.99990817e-01 6.28491323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.678623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:161.80, Y:91.49, Z:0.63 [[ 3.49040887e-01 -9.37106257e-01 -1.52377525e-03 1.61796519e+02] [ 9.37097698e-01 3.49044211e-01 -4.00537902e-03 9.14859606e+01] [ 4.28533068e-03 -2.98852349e-05 9.99990817e-01 6.28613074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.708623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:161.80, Y:91.51, Z:0.63 [[ 3.48300710e-01 -9.37381617e-01 -1.52273363e-03 1.61804688e+02] [ 9.37373059e-01 3.48304037e-01 -4.00577498e-03 9.15091679e+01] [ 4.28531410e-03 -3.21552055e-05 9.99990817e-01 6.27871677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.738623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:161.81, Y:91.53, Z:0.63 [[ 3.46927493e-01 -9.37890718e-01 -1.52164586e-03 1.61813012e+02] [ 9.37882163e-01 3.46930828e-01 -4.00618814e-03 9.15331961e+01] [ 4.28527253e-03 -3.72677061e-05 9.99990817e-01 6.29776199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.768623853 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:161.82, Y:91.56, Z:0.63 [[ 3.46077359e-01 -9.38204748e-01 -1.52061347e-03 1.61821615e+02] [ 9.38196194e-01 3.46080697e-01 -4.00657996e-03 9.15571387e+01] [ 4.28524732e-03 -4.00471602e-05 9.99990817e-01 6.31036296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.798623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:161.83, Y:91.58, Z:0.63 [[ 3.45158672e-01 -9.38543117e-01 -1.51957768e-03 1.61830492e+02] [ 9.38534564e-01 3.45162015e-01 -4.00697277e-03 9.15805699e+01] [ 4.28521720e-03 -4.31347686e-05 9.99990817e-01 6.31650990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.828623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:161.84, Y:91.60, Z:0.63 [[ 3.43022511e-01 -9.39325956e-01 -1.51853784e-03 1.61840202e+02] [ 9.39317409e-01 3.43025868e-01 -4.00736680e-03 9.16039403e+01] [ 4.28512141e-03 -5.17720078e-05 9.99990817e-01 6.33639149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.858623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:161.85, Y:91.63, Z:0.63 [[ 3.41883460e-01 -9.39741133e-01 -1.51746767e-03 1.61848571e+02] [ 9.39732589e-01 3.41886823e-01 -4.00777200e-03 9.16269803e+01] [ 4.28507040e-03 -5.58228622e-05 9.99990817e-01 6.34034721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.888623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:161.86, Y:91.65, Z:0.63 [[ 3.40915485e-01 -9.40092726e-01 -1.51635449e-03 1.61857957e+02] [ 9.40084183e-01 3.40918852e-01 -4.00819314e-03 9.16511919e+01] [ 4.28502704e-03 -5.90457605e-05 9.99990817e-01 6.34336822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.918623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:161.87, Y:91.67, Z:0.63 [[ 3.39737859e-01 -9.40518948e-01 -1.51529232e-03 1.61867538e+02] [ 9.40510407e-01 3.39741232e-01 -4.00859465e-03 9.16742503e+01] [ 4.28496650e-03 -6.32768352e-05 9.99990817e-01 6.34704384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94862385300002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:161.88, Y:91.70, Z:0.63 [[ 3.37625687e-01 -9.41279238e-01 -1.51419210e-03 1.61878420e+02] [ 9.41270703e-01 3.37629074e-01 -4.00901019e-03 9.16967176e+01] [ 4.28483334e-03 -7.17198444e-05 9.99990817e-01 6.34491387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97862385300002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:161.89, Y:91.72, Z:0.63 [[ 3.36565024e-01 -9.41659012e-01 -1.51309875e-03 1.61888042e+02] [ 9.41650479e-01 3.36568417e-01 -4.00942281e-03 9.17203096e+01] [ 4.28477037e-03 -7.53786768e-05 9.99990817e-01 6.33958460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:161.90, Y:91.74, Z:0.63 [[ 3.35510927e-01 -9.42035101e-01 -1.51206797e-03 1.61898019e+02] [ 9.42026570e-01 3.35514325e-01 -4.00981151e-03 9.17438118e+01] [ 4.28470365e-03 -7.90726263e-05 9.99990817e-01 6.33157118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:161.91, Y:91.77, Z:0.63 [[ 3.34010561e-01 -9.42568121e-01 -1.51103689e-03 1.61909791e+02] [ 9.42559594e-01 3.34013968e-01 -4.01020002e-03 9.17650553e+01] [ 4.28459412e-03 -8.47931627e-05 9.99990817e-01 6.32834676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:161.92, Y:91.79, Z:0.63 [[ 3.33395793e-01 -9.42785747e-01 -1.50996480e-03 1.61920224e+02] [ 9.42777221e-01 3.33399201e-01 -4.01060365e-03 9.17879301e+01] [ 4.28456102e-03 -8.64420285e-05 9.99990817e-01 6.33341218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:161.93, Y:91.81, Z:0.63 [[ 3.32985028e-01 -9.42930906e-01 -1.50891931e-03 1.61930166e+02] [ 9.42922379e-01 3.32988436e-01 -4.01099696e-03 9.18103639e+01] [ 4.28454568e-03 -8.71918503e-05 9.99990817e-01 6.33213775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12862385300002 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:161.94, Y:91.83, Z:0.63 [[ 3.33128589e-01 -9.42880199e-01 -1.50783057e-03 1.61940617e+02] [ 9.42871670e-01 3.33131991e-01 -4.01140621e-03 9.18339432e+01] [ 4.28458208e-03 -8.53766333e-05 9.99990817e-01 6.34453276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:161.95, Y:91.86, Z:0.64 [[ 3.34216125e-01 -9.42495258e-01 -1.50679888e-03 1.61952035e+02] [ 9.42486723e-01 3.34219513e-01 -4.01179370e-03 9.18572539e+01] [ 4.28469812e-03 -7.93317910e-05 9.99990817e-01 6.35025226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:161.96, Y:91.88, Z:0.63 [[ 3.34719729e-01 -9.42316526e-01 -1.50576841e-03 1.61961324e+02] [ 9.42307988e-01 3.34723108e-01 -4.01218043e-03 9.18794367e+01] [ 4.28475941e-03 -7.59416526e-05 9.99990818e-01 6.34590784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:161.97, Y:91.90, Z:0.63 [[ 3.35404212e-01 -9.42073113e-01 -1.50469632e-03 1.61970768e+02] [ 9.42064570e-01 3.35407580e-01 -4.01258246e-03 9.19016320e+01] [ 4.28483260e-03 -7.16840305e-05 9.99990818e-01 6.33876615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:161.98, Y:91.92, Z:0.63 [[ 3.37316233e-01 -9.41390195e-01 -1.50355568e-03 1.61982559e+02] [ 9.41381643e-01 3.37319578e-01 -4.01300982e-03 9.19227697e+01] [ 4.28498687e-03 -6.17663617e-05 9.99990818e-01 6.32487231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27862385300003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:161.99, Y:91.95, Z:0.63 [[ 3.38082424e-01 -9.41115305e-01 -1.50253357e-03 1.61993277e+02] [ 9.41106749e-01 3.38085758e-01 -4.01339248e-03 9.19460892e+01] [ 4.28505029e-03 -5.71870279e-05 9.99990818e-01 6.33459042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30862385300003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:162.00, Y:91.97, Z:0.63 [[ 3.39054964e-01 -9.40765368e-01 -1.50146674e-03 1.62003333e+02] [ 9.40756807e-01 3.39058285e-01 -4.01379156e-03 9.19689944e+01] [ 4.28512083e-03 -5.16191055e-05 9.99990818e-01 6.32524863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33862385300003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:162.01, Y:91.99, Z:0.63 [[ 3.41720870e-01 -9.39800296e-01 -1.50035758e-03 1.62014136e+02] [ 9.39791724e-01 3.41724162e-01 -4.01420612e-03 9.19921494e+01] [ 4.28526054e-03 -3.82856231e-05 9.99990818e-01 6.31756745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.368623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:162.02, Y:92.02, Z:0.63 [[ 3.43174483e-01 -9.39270476e-01 -1.49932352e-03 1.62023546e+02] [ 9.39261896e-01 3.43177757e-01 -4.01459231e-03 9.20159678e+01] [ 4.28532251e-03 -3.05518135e-05 9.99990818e-01 6.31462077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.398623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:162.03, Y:92.04, Z:0.63 [[ 3.44512618e-01 -9.38780492e-01 -1.49828379e-03 1.62032425e+02] [ 9.38771906e-01 3.44515875e-01 -4.01498031e-03 9.20385926e+01] [ 4.28536774e-03 -2.33353507e-05 9.99990818e-01 6.31132808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.428623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:162.04, Y:92.06, Z:0.63 [[ 3.48121327e-01 -9.37448292e-01 -1.49720659e-03 1.62042942e+02] [ 9.37439693e-01 3.48124546e-01 -4.01538196e-03 9.20616209e+01] [ 4.28542733e-03 -5.70078911e-06 9.99990818e-01 6.31775858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.458623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:162.05, Y:92.08, Z:0.64 [[ 3.50038625e-01 -9.36734073e-01 -1.49614878e-03 1.62051667e+02] [ 9.36725465e-01 3.50041822e-01 -4.01577607e-03 9.20841701e+01] [ 4.28542892e-03 4.19606794e-06 9.99990818e-01 6.38486224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.488623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.06, Y:92.11, Z:0.63 [[ 3.51814335e-01 -9.36068608e-01 -1.49504882e-03 1.62060680e+02] [ 9.36059992e-01 3.51817511e-01 -4.01618553e-03 9.21080683e+01] [ 4.28540956e-03 1.34962506e-05 9.99990818e-01 6.31830300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.518623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:162.07, Y:92.13, Z:0.63 [[ 3.55147154e-01 -9.34809214e-01 -1.49404061e-03 1.62068852e+02] [ 9.34800586e-01 3.55150295e-01 -4.01656056e-03 9.21324605e+01] [ 4.28532678e-03 2.98400127e-05 9.99990818e-01 6.32071821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.08, Y:92.16, Z:0.63 [[ 3.56185678e-01 -9.34414005e-01 -1.49298346e-03 1.62076914e+02] [ 9.34405372e-01 3.56188806e-01 -4.01695347e-03 9.21556712e+01] [ 4.28528158e-03 3.57295305e-05 9.99990818e-01 6.32243137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.578623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:162.08, Y:92.18, Z:0.63 [[ 3.56924140e-01 -9.34132181e-01 -1.49188318e-03 1.62084597e+02] [ 9.34123544e-01 3.56927256e-01 -4.01736207e-03 9.21784668e+01] [ 4.28524096e-03 4.02903000e-05 9.99990818e-01 6.31833126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.608623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.09, Y:92.20, Z:0.63 [[ 3.57753026e-01 -9.33815051e-01 -1.49079933e-03 1.62092312e+02] [ 9.33806409e-01 3.57756129e-01 -4.01776423e-03 9.22028686e+01] [ 4.28519131e-03 4.52493385e-05 9.99990818e-01 6.33162462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.638623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:162.10, Y:92.23, Z:0.63 [[ 3.57557414e-01 -9.33889970e-01 -1.48976198e-03 1.62100742e+02] [ 9.33881327e-01 3.57560514e-01 -4.01814884e-03 9.22269082e+01] [ 4.28518896e-03 4.54580084e-05 9.99990818e-01 6.33842988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.668623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:162.11, Y:92.25, Z:0.63 [[ 3.57144049e-01 -9.34048132e-01 -1.48867845e-03 1.62109268e+02] [ 9.34039488e-01 3.57147148e-01 -4.01855023e-03 9.22504238e+01] [ 4.28519660e-03 4.47168407e-05 9.99990818e-01 6.33147874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:162.12, Y:92.27, Z:0.63 [[ 3.56416272e-01 -9.34326082e-01 -1.48755502e-03 1.62116777e+02] [ 9.34317439e-01 3.56419374e-01 -4.01896605e-03 9.22743160e+01] [ 4.28521824e-03 4.25763024e-05 9.99990818e-01 6.33646613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.12, Y:92.30, Z:0.63 [[ 3.56431218e-01 -9.34320383e-01 -1.48647150e-03 1.62124480e+02] [ 9.34311738e-01 3.56434315e-01 -4.01936677e-03 9.22981143e+01] [ 4.28520575e-03 4.38000237e-05 9.99990818e-01 6.33771989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:162.13, Y:92.32, Z:0.63 [[ 3.56360667e-01 -9.34347295e-01 -1.48558528e-03 1.62132577e+02] [ 9.34338650e-01 3.56363761e-01 -4.01969430e-03 9.23227363e+01] [ 4.28519925e-03 4.44211984e-05 9.99990818e-01 6.34969708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:162.14, Y:92.35, Z:0.64 [[ 3.56116894e-01 -9.34440236e-01 -1.48454005e-03 1.62141294e+02] [ 9.34431589e-01 3.56119985e-01 -4.02008028e-03 9.23472487e+01] [ 4.28519915e-03 4.44173785e-05 9.99990818e-01 6.35081038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:162.15, Y:92.37, Z:0.64 [[ 3.56466748e-01 -9.34306832e-01 -1.48349115e-03 1.62149568e+02] [ 9.34298183e-01 3.56469832e-01 -4.02046731e-03 9.23716047e+01] [ 4.28516992e-03 4.71398211e-05 9.99990818e-01 6.36198053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:162.16, Y:92.40, Z:0.64 [[ 3.57470076e-01 -9.33923416e-01 -1.48243799e-03 1.62155793e+02] [ 9.33914762e-01 3.57473145e-01 -4.02085559e-03 9.23967395e+01] [ 4.28510296e-03 5.28648264e-05 9.99990818e-01 6.36802786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:162.16, Y:92.42, Z:0.64 [[ 3.57948739e-01 -9.33740063e-01 -1.48137311e-03 1.62162134e+02] [ 9.33731406e-01 3.57951800e-01 -4.02124788e-03 9.24204212e+01] [ 4.28506042e-03 5.61960113e-05 9.99990818e-01 6.35772580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.17, Y:92.45, Z:0.63 [[ 3.58113585e-01 -9.33676855e-01 -1.48026494e-03 1.62168520e+02] [ 9.33668195e-01 3.58116639e-01 -4.02165577e-03 9.24455635e+01] [ 4.28503442e-03 5.81332720e-05 9.99990818e-01 6.34474220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:162.17, Y:92.47, Z:0.63 [[ 3.57893705e-01 -9.33761162e-01 -1.47923521e-03 1.62173150e+02] [ 9.33752502e-01 3.57896758e-01 -4.02203449e-03 9.24705101e+01] [ 4.28503308e-03 5.82212436e-05 9.99990818e-01 6.33394715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:162.18, Y:92.49, Z:0.63 [[ 3.57420035e-01 -9.33942575e-01 -1.47816313e-03 1.62180156e+02] [ 9.33933915e-01 3.57423087e-01 -4.02242845e-03 9.24949661e+01] [ 4.28504682e-03 5.71898380e-05 9.99990818e-01 6.34204767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:162.19, Y:92.52, Z:0.63 [[ 3.55734824e-01 -9.34585766e-01 -1.47712841e-03 1.62186328e+02] [ 9.34577109e-01 3.55737887e-01 -4.02280839e-03 9.25195542e+01] [ 4.28513000e-03 5.05626308e-05 9.99990818e-01 6.34770222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02862385300003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:162.19, Y:92.54, Z:0.63 [[ 3.54670437e-01 -9.34990215e-01 -1.47607764e-03 1.62193711e+02] [ 9.34981561e-01 3.54673505e-01 -4.02319391e-03 9.25431887e+01] [ 4.28517257e-03 4.68025690e-05 9.99990818e-01 6.34361598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.20, Y:92.57, Z:0.64 [[ 3.53309977e-01 -9.35505150e-01 -1.47498657e-03 1.62201314e+02] [ 9.35496498e-01 3.53313053e-01 -4.02359388e-03 9.25678219e+01] [ 4.28522480e-03 4.17310910e-05 9.99990818e-01 6.35286701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:162.21, Y:92.59, Z:0.64 [[ 3.50788172e-01 -9.36453675e-01 -1.47395267e-03 1.62206139e+02] [ 9.36445030e-01 3.50791267e-01 -4.02397259e-03 9.25927730e+01] [ 4.28531365e-03 3.12863345e-05 9.99990818e-01 6.35133421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.118623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.21, Y:92.62, Z:0.64 [[ 3.49515754e-01 -9.36929330e-01 -1.47292660e-03 1.62212901e+02] [ 9.36920687e-01 3.49518856e-01 -4.02434814e-03 9.26178486e+01] [ 4.28534542e-03 2.65576690e-05 9.99990818e-01 6.35291284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.148623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:162.22, Y:92.64, Z:0.64 [[ 3.48189772e-01 -9.37422912e-01 -1.47189691e-03 1.62219892e+02] [ 9.37414272e-01 3.48192883e-01 -4.02472471e-03 9.26424021e+01] [ 4.28537318e-03 2.15908134e-05 9.99990818e-01 6.35715025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.178623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.23, Y:92.67, Z:0.64 [[ 3.46787887e-01 -9.37942428e-01 -1.47087096e-03 1.62227015e+02] [ 9.37933791e-01 3.46791006e-01 -4.02509962e-03 9.26671123e+01] [ 4.28539653e-03 1.62762182e-05 9.99990818e-01 6.36083022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.23, Y:92.69, Z:0.64 [[ 3.44203530e-01 -9.38893908e-01 -1.46984732e-03 1.62233057e+02] [ 9.38885278e-01 3.44206668e-01 -4.02547338e-03 9.26924872e+01] [ 4.28542368e-03 5.56413917e-06 9.99990818e-01 6.36859135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.238623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.24, Y:92.72, Z:0.64 [[ 3.42840181e-01 -9.39392598e-01 -1.46876283e-03 1.62240270e+02] [ 9.39383971e-01 3.42843327e-01 -4.02586904e-03 9.27161101e+01] [ 4.28542711e-03 4.97409913e-07 9.99990818e-01 6.35713490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.268623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:162.25, Y:92.74, Z:0.64 [[ 3.41464398e-01 -9.39893564e-01 -1.46763128e-03 1.62248144e+02] [ 9.39884940e-01 3.41467552e-01 -4.02628150e-03 9.27403219e+01] [ 4.28542453e-03 -4.57274989e-06 9.99990818e-01 6.35436911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.298623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.26, Y:92.76, Z:0.63 [[ 3.39887888e-01 -9.40464818e-01 -1.46660746e-03 1.62255810e+02] [ 9.40456197e-01 3.39891052e-01 -4.02665441e-03 9.27640749e+01] [ 4.28541355e-03 -1.06690146e-05 9.99990818e-01 6.34163448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.328623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:162.26, Y:92.79, Z:0.63 [[ 3.37322916e-01 -9.41387860e-01 -1.46554097e-03 1.62262327e+02] [ 9.41379247e-01 3.37326099e-01 -4.02704253e-03 9.27883727e+01] [ 4.28537416e-03 -2.12161223e-05 9.99990818e-01 6.34522713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.358623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:162.27, Y:92.81, Z:0.63 [[ 3.35888925e-01 -9.41900465e-01 -1.46445211e-03 1.62269940e+02] [ 9.41891855e-01 3.35892116e-01 -4.02743846e-03 9.28122867e+01] [ 4.28534407e-03 -2.65835469e-05 9.99990818e-01 6.34467675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.388623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.28, Y:92.84, Z:0.63 [[ 3.34755270e-01 -9.42303968e-01 -1.46336803e-03 1.62277736e+02] [ 9.42295360e-01 3.34758467e-01 -4.02783232e-03 9.28358514e+01] [ 4.28531721e-03 -3.05868066e-05 9.99990818e-01 6.34749172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.29, Y:92.86, Z:0.63 [[ 3.33547675e-01 -9.42732099e-01 -1.46229010e-03 1.62285568e+02] [ 9.42723493e-01 3.33550878e-01 -4.02822362e-03 9.28602702e+01] [ 4.28528385e-03 -3.49306059e-05 9.99990818e-01 6.34763470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.29, Y:92.88, Z:0.63 [[ 3.33120654e-01 -9.42883076e-01 -1.46125929e-03 1.62292869e+02] [ 9.42874470e-01 3.33123857e-01 -4.02859752e-03 9.28832521e+01] [ 4.28527675e-03 -3.57750383e-05 9.99990818e-01 6.34595937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.30, Y:92.91, Z:0.63 [[ 3.32893761e-01 -9.42963208e-01 -1.46018967e-03 1.62300180e+02] [ 9.42954601e-01 3.32896962e-01 -4.02898517e-03 9.29067385e+01] [ 4.28527748e-03 -3.56685400e-05 9.99990818e-01 6.34618459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.31, Y:92.93, Z:0.63 [[ 3.33506424e-01 -9.42746698e-01 -1.45909062e-03 1.62305846e+02] [ 9.42738087e-01 3.33509614e-01 -4.02938315e-03 9.29312787e+01] [ 4.28530841e-03 -3.17151336e-05 9.99990818e-01 6.34905329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.31, Y:92.95, Z:0.63 [[ 3.33835862e-01 -9.42630093e-01 -1.45799029e-03 1.62312330e+02] [ 9.42621479e-01 3.33839044e-01 -4.02978125e-03 9.29540214e+01] [ 4.28532716e-03 -2.90474657e-05 9.99990818e-01 6.34505653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.32, Y:92.98, Z:0.63 [[ 3.34269073e-01 -9.42476559e-01 -1.45685169e-03 1.62319125e+02] [ 9.42467943e-01 3.34272247e-01 -4.03019284e-03 9.29776705e+01] [ 4.28534737e-03 -2.58671933e-05 9.99990818e-01 6.34805322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:162.33, Y:93.00, Z:0.63 [[ 3.34808081e-01 -9.42285217e-01 -1.45575401e-03 1.62326487e+02] [ 9.42276597e-01 3.34811245e-01 -4.03058930e-03 9.30006240e+01] [ 4.28536752e-03 -2.22490602e-05 9.99990818e-01 6.34915669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:162.33, Y:93.03, Z:0.64 [[ 3.36225432e-01 -9.41780411e-01 -1.45461388e-03 1.62333098e+02] [ 9.41771785e-01 3.36228578e-01 -4.03100072e-03 9.30251576e+01] [ 4.28540027e-03 -1.45893557e-05 9.99990818e-01 6.36052326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:162.34, Y:93.05, Z:0.64 [[ 3.36794578e-01 -9.41577028e-01 -1.45356370e-03 1.62339940e+02] [ 9.41568398e-01 3.36797715e-01 -4.03137937e-03 9.30493914e+01] [ 4.28541114e-03 -1.08829326e-05 9.99990818e-01 6.35945757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68862385300002 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:162.35, Y:93.07, Z:0.64 [[ 3.37132241e-01 -9.41456182e-01 -1.45249638e-03 1.62346353e+02] [ 9.41447549e-01 3.37135369e-01 -4.03176389e-03 9.30735596e+01] [ 4.28541694e-03 -8.21156313e-06 9.99990818e-01 6.43115441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71862385300003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:162.35, Y:93.10, Z:0.63 [[ 3.36980610e-01 -9.41510468e-01 -1.45138902e-03 1.62354136e+02] [ 9.41501834e-01 3.36983736e-01 -4.03216249e-03 9.30974380e+01] [ 4.28541769e-03 -7.72485101e-06 9.99990818e-01 6.34507820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.36, Y:93.12, Z:0.63 [[ 3.35962610e-01 -9.41874207e-01 -1.45033833e-03 1.62360934e+02] [ 9.41865574e-01 3.35965740e-01 -4.03254038e-03 9.31205898e+01] [ 4.28540976e-03 -1.12409582e-05 9.99990818e-01 6.32068085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:162.37, Y:93.14, Z:0.63 [[ 3.34888761e-01 -9.42256556e-01 -1.44924375e-03 1.62368325e+02] [ 9.42247926e-01 3.34891896e-01 -4.03293372e-03 9.31446121e+01] [ 4.28539822e-03 -1.49627380e-05 9.99990818e-01 6.31551490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:162.38, Y:93.17, Z:0.63 [[ 3.33854336e-01 -9.42623565e-01 -1.44819947e-03 1.62376391e+02] [ 9.42614936e-01 3.33857476e-01 -4.03330868e-03 9.31691714e+01] [ 4.28538402e-03 -1.85568611e-05 9.99990818e-01 6.31586413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:162.38, Y:93.19, Z:0.64 [[ 3.32209857e-01 -9.43204387e-01 -1.44715730e-03 1.62384060e+02] [ 9.43195763e-01 3.32213008e-01 -4.03368257e-03 9.31924259e+01] [ 4.28535158e-03 -2.49235188e-05 9.99990818e-01 6.39971142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.39, Y:93.22, Z:0.63 [[ 3.31270396e-01 -9.43534755e-01 -1.44625416e-03 1.62392226e+02] [ 9.43526131e-01 3.31273552e-01 -4.03400636e-03 9.32168838e+01] [ 4.28533096e-03 -2.82317109e-05 9.99990818e-01 6.33671178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.898623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:162.40, Y:93.24, Z:0.64 [[ 3.29389639e-01 -9.44192977e-01 -1.44522605e-03 1.62399162e+02] [ 9.44184358e-01 3.29392808e-01 -4.03437466e-03 9.32400043e+01] [ 4.28527529e-03 -3.56786167e-05 9.99990818e-01 6.35137693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.41, Y:93.26, Z:0.64 [[ 3.28310852e-01 -9.44568631e-01 -1.44406353e-03 1.62406418e+02] [ 9.44560015e-01 3.28314025e-01 -4.03479073e-03 9.32623562e+01] [ 4.28524307e-03 -3.93390861e-05 9.99990818e-01 6.36099621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.41, Y:93.29, Z:0.64 [[ 3.27327717e-01 -9.44909775e-01 -1.44301600e-03 1.62414528e+02] [ 9.44901160e-01 3.27330895e-01 -4.03516534e-03 9.32861136e+01] [ 4.28521089e-03 -4.26860307e-05 9.99990818e-01 6.36248511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.988623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:162.42, Y:93.31, Z:0.64 [[ 3.25487631e-01 -9.45545199e-01 -1.44191090e-03 1.62422116e+02] [ 9.45536588e-01 3.25490821e-01 -4.03556019e-03 9.33084619e+01] [ 4.28513333e-03 -4.98545818e-05 9.99990818e-01 6.36200030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.43, Y:93.33, Z:0.64 [[ 3.24623806e-01 -9.45842116e-01 -1.44077036e-03 1.62430107e+02] [ 9.45833507e-01 3.24626999e-01 -4.03596735e-03 9.33319175e+01] [ 4.28510085e-03 -5.25577985e-05 9.99990818e-01 6.36685773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:93.35, Z:0.64 [[ 3.23872293e-01 -9.46099712e-01 -1.43968211e-03 1.62438084e+02] [ 9.46091103e-01 3.23875488e-01 -4.03635550e-03 9.33549020e+01] [ 4.28507252e-03 -5.48067265e-05 9.99990818e-01 6.36896508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:93.38, Z:0.64 [[ 3.23231208e-01 -9.46318930e-01 -1.43859964e-03 1.62446061e+02] [ 9.46310321e-01 3.23234405e-01 -4.03674127e-03 9.33780494e+01] [ 4.28504957e-03 -5.65609319e-05 9.99990818e-01 6.36545151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:93.40, Z:0.64 [[ 3.22642008e-01 -9.46519978e-01 -1.43751191e-03 1.62453022e+02] [ 9.46511370e-01 3.22645205e-01 -4.03712858e-03 9.34005036e+01] [ 4.28502918e-03 -5.80740987e-05 9.99990818e-01 6.35644031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.46, Y:93.42, Z:0.64 [[ 3.22465973e-01 -9.46579966e-01 -1.43649194e-03 1.62460955e+02] [ 9.46571358e-01 3.22469167e-01 -4.03749147e-03 9.34238074e+01] [ 4.28503290e-03 -5.77885120e-05 9.99990818e-01 6.35880898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.47, Y:93.45, Z:0.64 [[ 3.22537968e-01 -9.46555439e-01 -1.43541894e-03 1.62469092e+02] [ 9.46546828e-01 3.22541157e-01 -4.03787291e-03 9.34470297e+01] [ 4.28505225e-03 -5.63239260e-05 9.99990818e-01 6.36088847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.48, Y:93.47, Z:0.64 [[ 3.22786202e-01 -9.46470819e-01 -1.43434976e-03 1.62476585e+02] [ 9.46462205e-01 3.22789384e-01 -4.03825268e-03 9.34696560e+01] [ 4.28508119e-03 -5.40655929e-05 9.99990818e-01 6.36042698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.48, Y:93.49, Z:0.64 [[ 3.23115650e-01 -9.46358401e-01 -1.43324523e-03 1.62484536e+02] [ 9.46349784e-01 3.23118825e-01 -4.03864465e-03 9.34929872e+01] [ 4.28511381e-03 -5.14020180e-05 9.99990818e-01 6.35695045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:93.52, Z:0.64 [[ 3.23280906e-01 -9.46301963e-01 -1.43221503e-03 1.62492578e+02] [ 9.46293344e-01 3.23284075e-01 -4.03900996e-03 9.35163938e+01] [ 4.28513536e-03 -4.95607473e-05 9.99990818e-01 6.36058289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.50, Y:93.54, Z:0.64 [[ 3.24287923e-01 -9.45957343e-01 -1.43115997e-03 1.62500697e+02] [ 9.45948720e-01 3.24291078e-01 -4.03938377e-03 9.35390192e+01] [ 4.28519715e-03 -4.38805674e-05 9.99990818e-01 6.36306254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.51, Y:93.56, Z:0.64 [[ 3.24780988e-01 -9.45788171e-01 -1.43007061e-03 1.62508335e+02] [ 9.45779545e-01 3.24784134e-01 -4.03976940e-03 9.35623939e+01] [ 4.28523036e-03 -4.04912337e-05 9.99990818e-01 6.36207036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.52, Y:93.59, Z:0.64 [[ 3.25675062e-01 -9.45480678e-01 -1.42903130e-03 1.62515932e+02] [ 9.45472046e-01 3.25678195e-01 -4.04013701e-03 9.35863608e+01] [ 4.28527581e-03 -3.53372738e-05 9.99990818e-01 6.36349357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37862385300002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:162.52, Y:93.61, Z:0.65 [[ 3.26730284e-01 -9.45116544e-01 -1.42799085e-03 1.62523398e+02] [ 9.45107908e-01 3.26733404e-01 -4.04050473e-03 9.36104141e+01] [ 4.28532017e-03 -2.94501827e-05 9.99990818e-01 6.45972879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.53, Y:93.63, Z:0.63 [[ 3.28319912e-01 -9.44565508e-01 -1.42694042e-03 1.62531154e+02] [ 9.44556865e-01 3.28323012e-01 -4.04087566e-03 9.36340881e+01] [ 4.28536915e-03 -2.11264336e-05 9.99990818e-01 6.34890400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:162.54, Y:93.66, Z:0.64 [[ 3.28856766e-01 -9.44378735e-01 -1.42604236e-03 1.62538881e+02] [ 9.44370088e-01 3.28859857e-01 -4.04119257e-03 9.36578800e+01] [ 4.28538441e-03 -1.77382307e-05 9.99990818e-01 6.41542991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.55, Y:93.68, Z:0.64 [[ 3.28992032e-01 -9.44331622e-01 -1.42500002e-03 1.62547665e+02] [ 9.44322974e-01 3.28995118e-01 -4.04156008e-03 9.36809615e+01] [ 4.28539104e-03 -1.60191934e-05 9.99990818e-01 6.35911928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.56, Y:93.70, Z:0.63 [[ 3.29265771e-01 -9.44236212e-01 -1.42409467e-03 1.62556060e+02] [ 9.44227561e-01 3.29268850e-01 -4.04187907e-03 9.37031848e+01] [ 4.28539859e-03 -1.38170073e-05 9.99990818e-01 6.33897431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.56, Y:93.73, Z:0.64 [[ 3.29324893e-01 -9.44215595e-01 -1.42293407e-03 1.62563723e+02] [ 9.44206943e-01 3.29327967e-01 -4.04228761e-03 9.37275877e+01] [ 4.28540299e-03 -1.23182952e-05 9.99990818e-01 6.36731244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.57, Y:93.75, Z:0.64 [[ 3.29673904e-01 -9.44093796e-01 -1.42190788e-03 1.62570284e+02] [ 9.44085140e-01 3.29676970e-01 -4.04264855e-03 9.37499678e+01] [ 4.28540970e-03 -9.64636721e-06 9.99990818e-01 6.37577040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:93.77, Z:0.64 [[ 3.31263201e-01 -9.43537320e-01 -1.42074785e-03 1.62575543e+02] [ 9.43528657e-01 3.31266247e-01 -4.04305619e-03 9.37728453e+01] [ 4.28542021e-03 -1.20057344e-06 9.99990818e-01 6.36596237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:93.80, Z:0.64 [[ 3.32219541e-01 -9.43201018e-01 -1.41959322e-03 1.62582495e+02] [ 9.43192351e-01 3.32222574e-01 -4.04346156e-03 9.37960822e+01] [ 4.28541798e-03 4.36747424e-06 9.99990818e-01 6.38958852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:93.82, Z:0.64 [[ 3.33156665e-01 -9.42870418e-01 -1.41848756e-03 1.62590185e+02] [ 9.42861746e-01 3.33159684e-01 -4.04384940e-03 9.38198797e+01] [ 4.28540884e-03 9.79771687e-06 9.99990818e-01 6.40407224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.60, Y:93.84, Z:0.64 [[ 3.33817448e-01 -9.42636676e-01 -1.41740822e-03 1.62597401e+02] [ 9.42628000e-01 3.33820456e-01 -4.04422768e-03 9.38431398e+01] [ 4.28539720e-03 1.39450815e-05 9.99990818e-01 6.39052143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.61, Y:93.87, Z:0.64 [[ 3.33564282e-01 -9.42726293e-01 -1.41628308e-03 1.62605353e+02] [ 9.42717617e-01 3.33567288e-01 -4.04462167e-03 9.38670196e+01] [ 4.28539690e-03 1.39863152e-05 9.99990818e-01 6.39159890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.61, Y:93.89, Z:0.64 [[ 3.34592394e-01 -9.42361888e-01 -1.41519674e-03 1.62612351e+02] [ 9.42353206e-01 3.34595386e-01 -4.04500174e-03 9.38909066e+01] [ 4.28537377e-03 1.98116250e-05 9.99990818e-01 6.37324726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.62, Y:93.92, Z:0.64 [[ 3.34511522e-01 -9.42390600e-01 -1.41411494e-03 1.62620255e+02] [ 9.42381917e-01 3.34514510e-01 -4.04537990e-03 9.39150355e+01] [ 4.28536995e-03 2.05898426e-05 9.99990818e-01 6.38513071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.798623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.63, Y:93.94, Z:0.64 [[ 3.33969175e-01 -9.42582937e-01 -1.41306325e-03 1.62627535e+02] [ 9.42574255e-01 3.33972164e-01 -4.04574722e-03 9.39385626e+01] [ 4.28537609e-03 1.92378251e-05 9.99990818e-01 6.37186122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:93.96, Z:0.64 [[ 3.32365767e-01 -9.43149513e-01 -1.41196859e-03 1.62634955e+02] [ 9.43140834e-01 3.32368766e-01 -4.04612922e-03 9.39625165e+01] [ 4.28539906e-03 1.31096131e-05 9.99990818e-01 6.39230723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.64, Y:93.99, Z:0.64 [[ 3.31427448e-01 -9.43479653e-01 -1.41089638e-03 1.62643070e+02] [ 9.43470976e-01 3.31430451e-01 -4.04650307e-03 9.39854064e+01] [ 4.28540734e-03 9.98240822e-06 9.99990818e-01 6.39329292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.888623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.65, Y:94.01, Z:0.64 [[ 3.30820911e-01 -9.43692501e-01 -1.40977818e-03 1.62651853e+02] [ 9.43683824e-01 3.30823915e-01 -4.04689261e-03 9.40089167e+01] [ 4.28541054e-03 8.41184060e-06 9.99990818e-01 6.39971409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.66, Y:94.03, Z:0.64 [[ 3.31222629e-01 -9.43551581e-01 -1.40872112e-03 1.62659113e+02] [ 9.43542901e-01 3.31225624e-01 -4.04726054e-03 9.40324276e+01] [ 4.28540361e-03 1.13554672e-05 9.99990818e-01 6.40324020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.67, Y:94.06, Z:0.64 [[ 3.31870359e-01 -9.43323955e-01 -1.40761889e-03 1.62666429e+02] [ 9.43315271e-01 3.31873344e-01 -4.04764385e-03 9.40571623e+01] [ 4.28539059e-03 1.54646188e-05 9.99990818e-01 6.40258981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.67, Y:94.08, Z:0.64 [[ 3.32659068e-01 -9.43046110e-01 -1.40657114e-03 1.62673924e+02] [ 9.43037423e-01 3.32662041e-01 -4.04800791e-03 9.40817696e+01] [ 4.28537094e-03 2.01573153e-05 9.99990818e-01 6.40205396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.68, Y:94.11, Z:0.64 [[ 3.34177919e-01 -9.42508962e-01 -1.40552423e-03 1.62680932e+02] [ 9.42500267e-01 3.34180874e-01 -4.04837138e-03 9.41053184e+01] [ 4.28532562e-03 2.81693583e-05 9.99990818e-01 6.38313374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.69, Y:94.13, Z:0.64 [[ 3.34633858e-01 -9.42347181e-01 -1.40443712e-03 1.62688268e+02] [ 9.42338483e-01 3.34636804e-01 -4.04874848e-03 9.41297796e+01] [ 4.28530307e-03 3.13931835e-05 9.99990818e-01 6.38660205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:94.15, Z:0.64 [[ 3.34918712e-01 -9.42245980e-01 -1.40337689e-03 1.62695157e+02] [ 9.42237281e-01 3.34921650e-01 -4.04911594e-03 9.41536119e+01] [ 4.28528453e-03 3.38106666e-05 9.99990818e-01 6.38322735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:94.18, Z:0.64 [[ 3.35063142e-01 -9.42194632e-01 -1.40247402e-03 1.62701564e+02] [ 9.42185930e-01 3.35066075e-01 -4.04942864e-03 9.41775798e+01] [ 4.28527140e-03 3.54229945e-05 9.99990818e-01 6.39318734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.71, Y:94.20, Z:0.64 [[ 3.34873455e-01 -9.42262068e-01 -1.40140035e-03 1.62709167e+02] [ 9.42253366e-01 3.34876385e-01 -4.04980018e-03 9.42019181e+01] [ 4.28526898e-03 3.56963824e-05 9.99990818e-01 6.41868867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.72, Y:94.23, Z:0.64 [[ 3.34561426e-01 -9.42372905e-01 -1.40033110e-03 1.62716534e+02] [ 9.42364202e-01 3.34564354e-01 -4.05016987e-03 9.42251354e+01] [ 4.28527121e-03 3.54087066e-05 9.99990818e-01 6.43067187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.72, Y:94.25, Z:0.64 [[ 3.34323089e-01 -9.42457487e-01 -1.39921824e-03 1.62724400e+02] [ 9.42448783e-01 3.34326015e-01 -4.05055429e-03 9.42482551e+01] [ 4.28527028e-03 3.55022939e-05 9.99990818e-01 6.43910712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:94.27, Z:0.65 [[ 3.34338713e-01 -9.42451946e-01 -1.39812914e-03 1.62732230e+02] [ 9.42443240e-01 3.34341634e-01 -4.05093018e-03 9.42720970e+01] [ 4.28525982e-03 3.67254299e-05 9.99990818e-01 6.45719489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.74, Y:94.30, Z:0.64 [[ 3.34533971e-01 -9.42382656e-01 -1.39706447e-03 1.62739493e+02] [ 9.42373948e-01 3.34536886e-01 -4.05129733e-03 9.42953906e+01] [ 4.28524193e-03 3.87394215e-05 9.99990818e-01 6.43925988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.75, Y:94.32, Z:0.65 [[ 3.34901192e-01 -9.42252218e-01 -1.39595837e-03 1.62746759e+02] [ 9.42243508e-01 3.34904099e-01 -4.05167842e-03 9.43196764e+01] [ 4.28521516e-03 4.15792180e-05 9.99990818e-01 6.45131908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:94.34, Z:0.64 [[ 3.36057596e-01 -9.41840404e-01 -1.39489856e-03 1.62752297e+02] [ 9.41831688e-01 3.36060488e-01 -4.05204326e-03 9.43435664e+01] [ 4.28514835e-03 4.79602546e-05 9.99990818e-01 6.42817320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.76, Y:94.37, Z:0.64 [[ 3.36467078e-01 -9.41694198e-01 -1.39379669e-03 1.62759220e+02] [ 9.41685480e-01 3.36469961e-01 -4.05242223e-03 9.43682302e+01] [ 4.28511323e-03 5.09885605e-05 9.99990818e-01 6.44291012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.77, Y:94.39, Z:0.64 [[ 3.36967376e-01 -9.41515294e-01 -1.39272752e-03 1.62765058e+02] [ 9.41506572e-01 3.36970249e-01 -4.05278965e-03 9.43923822e+01] [ 4.28507118e-03 5.43957785e-05 9.99990818e-01 6.44198125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.77, Y:94.42, Z:0.64 [[ 3.37123532e-01 -9.41459393e-01 -1.39161541e-03 1.62772104e+02] [ 9.41450669e-01 3.37126399e-01 -4.05317148e-03 9.44166371e+01] [ 4.28504666e-03 5.62822276e-05 9.99990818e-01 6.44032172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:94.44, Z:0.64 [[ 3.37014077e-01 -9.41498581e-01 -1.39055808e-03 1.62778783e+02] [ 9.41489857e-01 3.37016941e-01 -4.05353420e-03 9.44399984e+01] [ 4.28503833e-03 5.69017556e-05 9.99990818e-01 6.44753483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.79, Y:94.46, Z:0.65 [[ 3.36646114e-01 -9.41630216e-01 -1.38945582e-03 1.62785528e+02] [ 9.41621491e-01 3.36648977e-01 -4.05391199e-03 9.44647427e+01] [ 4.28504490e-03 5.63922639e-05 9.99990818e-01 6.45187698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.488623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:162.79, Y:94.49, Z:0.65 [[ 3.36453566e-01 -9.41699034e-01 -1.38840517e-03 1.62790750e+02] [ 9.41690308e-01 3.36456426e-01 -4.05427179e-03 9.44884510e+01] [ 4.28504167e-03 5.66265114e-05 9.99990818e-01 6.45876998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.80, Y:94.51, Z:0.65 [[ 3.36137584e-01 -9.41811871e-01 -1.38731311e-03 1.62797036e+02] [ 9.41803145e-01 3.36140442e-01 -4.05464544e-03 9.45128432e+01] [ 4.28504525e-03 5.63428707e-05 9.99990818e-01 6.45768489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:94.54, Z:0.65 [[ 3.36129611e-01 -9.41814718e-01 -1.38626698e-03 1.62802061e+02] [ 9.41805990e-01 3.36132465e-01 -4.05500308e-03 9.45375229e+01] [ 4.28503092e-03 5.74120622e-05 9.99990818e-01 6.45868138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.81, Y:94.56, Z:0.65 [[ 3.35897103e-01 -9.41897668e-01 -1.38517959e-03 1.62808169e+02] [ 9.41888940e-01 3.35899954e-01 -4.05537450e-03 9.45609781e+01] [ 4.28502954e-03 5.75032053e-05 9.99990818e-01 6.45825596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.81, Y:94.59, Z:0.65 [[ 3.35710597e-01 -9.41964160e-01 -1.38410192e-03 1.62814143e+02] [ 9.41955431e-01 3.35713445e-01 -4.05574227e-03 9.45857768e+01] [ 4.28502549e-03 5.77933393e-05 9.99990818e-01 6.45642965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.82, Y:94.61, Z:0.65 [[ 3.35601274e-01 -9.42003117e-01 -1.38307753e-03 1.62820037e+02] [ 9.41994386e-01 3.35604119e-01 -4.05609158e-03 9.46112021e+01] [ 4.28501742e-03 5.83782265e-05 9.99990818e-01 6.45662320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:94.64, Z:0.65 [[ 3.35342446e-01 -9.42095289e-01 -1.38205485e-03 1.62823336e+02] [ 9.42086558e-01 3.35345289e-01 -4.05644001e-03 9.46357374e+01] [ 4.28501861e-03 5.82812128e-05 9.99990818e-01 6.46870326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.83, Y:94.66, Z:0.65 [[ 3.34647097e-01 -9.42342514e-01 -1.38116688e-03 1.62828814e+02] [ 9.42333783e-01 3.34649943e-01 -4.05674233e-03 9.46601499e+01] [ 4.28504818e-03 5.60568324e-05 9.99990818e-01 6.46012929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.83, Y:94.68, Z:0.65 [[ 3.33316020e-01 -9.42814153e-01 -1.38011374e-03 1.62831932e+02] [ 9.42805425e-01 3.33318873e-01 -4.05710058e-03 9.46849485e+01] [ 4.28510980e-03 5.11178984e-05 9.99990818e-01 6.46762401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:94.71, Z:0.65 [[ 3.32354187e-01 -9.43153642e-01 -1.37902261e-03 1.62837660e+02] [ 9.43144916e-01 3.32357045e-01 -4.05747143e-03 9.47093864e+01] [ 4.28514683e-03 4.78994551e-05 9.99990818e-01 6.46137427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.84, Y:94.73, Z:0.65 [[ 3.31383164e-01 -9.43495257e-01 -1.37793211e-03 1.62843482e+02] [ 9.43486532e-01 3.31386026e-01 -4.05784173e-03 9.47335785e+01] [ 4.28518187e-03 4.46400475e-05 9.99990818e-01 6.45349423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:162.85, Y:94.76, Z:0.65 [[ 3.30293197e-01 -9.43877380e-01 -1.37684274e-03 1.62848881e+02] [ 9.43868657e-01 3.30296064e-01 -4.05821132e-03 9.47577470e+01] [ 4.28521961e-03 4.08408850e-05 9.99990818e-01 6.45136239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:162.85, Y:94.78, Z:0.64 [[ 3.28509337e-01 -9.44499721e-01 -1.37575131e-03 1.62851307e+02] [ 9.44491001e-01 3.28512216e-01 -4.05858129e-03 9.47815102e+01] [ 4.28528001e-03 3.38971142e-05 9.99990818e-01 6.44390959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.86, Y:94.81, Z:0.64 [[ 3.27566275e-01 -9.44827204e-01 -1.37462257e-03 1.62856060e+02] [ 9.44818486e-01 3.27569158e-01 -4.05896355e-03 9.48057587e+01] [ 4.28530314e-03 3.08107512e-05 9.99990818e-01 6.44529993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.86, Y:94.83, Z:0.64 [[ 3.26653756e-01 -9.45143078e-01 -1.37354021e-03 1.62860892e+02] [ 9.45134361e-01 3.26656643e-01 -4.05932979e-03 9.48291985e+01] [ 4.28532348e-03 2.78152725e-05 9.99990818e-01 6.44620388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.86, Y:94.86, Z:0.65 [[ 3.24968071e-01 -9.45723992e-01 -1.37241867e-03 1.62862785e+02] [ 9.45715279e-01 3.24970969e-01 -4.05970893e-03 9.48553244e+01] [ 4.28536036e-03 2.13584738e-05 9.99990818e-01 6.47032367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:94.88, Z:0.65 [[ 3.24002048e-01 -9.46055386e-01 -1.37135386e-03 1.62867434e+02] [ 9.46046674e-01 3.24004949e-01 -4.06006859e-03 9.48796304e+01] [ 4.28537519e-03 1.81057820e-05 9.99990818e-01 6.45165307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:94.90, Z:0.65 [[ 3.22996760e-01 -9.46399078e-01 -1.37044121e-03 1.62872411e+02] [ 9.46390368e-01 3.22999667e-01 -4.06037662e-03 9.49044586e+01] [ 4.28538875e-03 1.45161340e-05 9.99990818e-01 6.45575384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.88, Y:94.93, Z:0.65 [[ 3.22203748e-01 -9.46669356e-01 -1.36938234e-03 1.62877870e+02] [ 9.46660647e-01 3.22206658e-01 -4.06073370e-03 9.49289114e+01] [ 4.28539627e-03 1.20432521e-05 9.99990818e-01 6.45834427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.88, Y:94.95, Z:0.65 [[ 3.20712828e-01 -9.47175490e-01 -1.36833315e-03 1.62880420e+02] [ 9.47166784e-01 3.20715747e-01 -4.06108721e-03 9.49539783e+01] [ 4.28540826e-03 6.40306222e-06 9.99990818e-01 6.46809037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.88, Y:94.98, Z:0.65 [[ 3.19788586e-01 -9.47487937e-01 -1.36728539e-03 1.62884981e+02] [ 9.47479232e-01 3.19791509e-01 -4.06143994e-03 9.49794360e+01] [ 4.28541161e-03 3.32761907e-06 9.99990818e-01 6.49534173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.89, Y:95.00, Z:0.65 [[ 3.18656280e-01 -9.47869352e-01 -1.36621308e-03 1.62889751e+02] [ 9.47860649e-01 3.18659208e-01 -4.06180062e-03 9.50041665e+01] [ 4.28541270e-03 -6.61338180e-07 9.99990818e-01 6.46550460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.89, Y:95.03, Z:0.65 [[ 3.17185492e-01 -9.48362536e-01 -1.36529568e-03 1.62894245e+02] [ 9.48353836e-01 3.17188431e-01 -4.06210896e-03 9.50271899e+01] [ 4.28540795e-03 -6.34137017e-06 9.99990818e-01 6.46240048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:95.05, Z:0.65 [[ 3.14201733e-01 -9.49355260e-01 -1.36421466e-03 1.62896187e+02] [ 9.49346568e-01 3.14204694e-01 -4.06247198e-03 9.50510201e+01] [ 4.28537179e-03 -1.86767709e-05 9.99990818e-01 6.46150339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.208623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.90, Y:95.08, Z:0.65 [[ 3.12421683e-01 -9.49942542e-01 -1.36323948e-03 1.62901361e+02] [ 9.49933855e-01 3.12424656e-01 -4.06279919e-03 9.50753380e+01] [ 4.28533542e-03 -2.56807710e-05 9.99990818e-01 6.46244328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.90, Y:95.10, Z:0.65 [[ 3.08198149e-01 -9.51321211e-01 -1.36226103e-03 1.62903970e+02] [ 9.51312535e-01 3.08201156e-01 -4.06312724e-03 9.51004305e+01] [ 4.28518955e-03 -4.36876968e-05 9.99990818e-01 6.48668645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.268623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.91, Y:95.13, Z:0.65 [[ 3.05971184e-01 -9.52039801e-01 -1.36123750e-03 1.62910075e+02] [ 9.52031130e-01 3.05974207e-01 -4.06347012e-03 9.51252677e+01] [ 4.28508885e-03 -5.26357188e-05 9.99990818e-01 6.51748557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.92, Y:95.15, Z:0.65 [[ 3.03186345e-01 -9.52930318e-01 -1.36019036e-03 1.62916534e+02] [ 9.52921654e-01 3.03189389e-01 -4.06382060e-03 9.51502724e+01] [ 4.28493314e-03 -6.40599372e-05 9.99990818e-01 6.52120994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.328623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:162.92, Y:95.17, Z:0.66 [[ 3.00217934e-01 -9.53869669e-01 -1.35911806e-03 1.62922066e+02] [ 9.53861014e-01 3.00221001e-01 -4.06417920e-03 9.51745840e+01] [ 4.28473305e-03 -7.62702475e-05 9.99990818e-01 6.56358753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.358623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.93, Y:95.20, Z:0.65 [[ 2.95372936e-01 -9.55381068e-01 -1.35820453e-03 1.62929300e+02] [ 9.55372427e-01 2.95376042e-01 -4.06448446e-03 9.51989554e+01] [ 4.28431259e-03 -9.70524497e-05 9.99990818e-01 6.51155673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.94, Y:95.22, Z:0.65 [[ 2.92757723e-01 -9.56185690e-01 -1.35714883e-03 1.62936226e+02] [ 9.56177056e-01 2.92760849e-01 -4.06483694e-03 9.52222087e+01] [ 4.28405895e-03 -1.07662168e-04 9.99990818e-01 6.50801217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.418623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:162.94, Y:95.25, Z:0.66 [[ 2.88202083e-01 -9.57568650e-01 -1.35605372e-03 1.62942046e+02] [ 9.57560030e-01 2.88205246e-01 -4.06520224e-03 9.52473539e+01] [ 4.28353202e-03 -1.26903081e-04 9.99990818e-01 6.59761026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.95, Y:95.27, Z:0.65 [[ 2.86294726e-01 -9.58140644e-01 -1.35502293e-03 1.62950624e+02] [ 9.58132028e-01 2.86297902e-01 -4.06554579e-03 9.52713264e+01] [ 4.28330489e-03 -1.34346550e-04 9.99990818e-01 6.50439330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.96, Y:95.29, Z:0.65 [[ 2.84303958e-01 -9.58733240e-01 -1.35399297e-03 1.62958640e+02] [ 9.58724629e-01 2.84307147e-01 -4.06588878e-03 9.52940780e+01] [ 4.28305261e-03 -1.42158134e-04 9.99990818e-01 6.50276536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.97, Y:95.32, Z:0.65 [[ 2.80940757e-01 -9.59724158e-01 -1.35311497e-03 1.62968689e+02] [ 9.59715557e-01 2.80943973e-01 -4.06618096e-03 9.53162568e+01] [ 4.28256159e-03 -1.56249527e-04 9.99990818e-01 6.51747809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.98, Y:95.34, Z:0.65 [[ 2.79425567e-01 -9.60166405e-01 -1.35205826e-03 1.62977520e+02] [ 9.60157807e-01 2.79428791e-01 -4.06653230e-03 9.53398380e+01] [ 4.28235170e-03 -1.61896203e-04 9.99990818e-01 6.52878610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.99, Y:95.36, Z:0.65 [[ 2.78239172e-01 -9.60510874e-01 -1.35104235e-03 1.62986131e+02] [ 9.60502278e-01 2.78242402e-01 -4.06686979e-03 9.53624686e+01] [ 4.28218993e-03 -1.66116775e-04 9.99990818e-01 6.51815620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.99, Y:95.39, Z:0.65 [[ 2.77989117e-01 -9.60583275e-01 -1.35017874e-03 1.62993702e+02] [ 9.60574679e-01 2.77992346e-01 -4.06715648e-03 9.53864427e+01] [ 4.28218185e-03 -1.66322271e-04 9.99990818e-01 6.51923365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.00, Y:95.41, Z:0.65 [[ 2.77178273e-01 -9.60817561e-01 -1.34911986e-03 1.63002628e+02] [ 9.60808966e-01 2.77181505e-01 -4.06750770e-03 9.54107711e+01] [ 4.28208390e-03 -1.68821699e-04 9.99990818e-01 6.52470977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:95.43, Z:0.65 [[ 2.77399442e-01 -9.60753731e-01 -1.34810828e-03 1.63013182e+02] [ 9.60745134e-01 2.77402668e-01 -4.06784294e-03 9.54328820e+01] [ 4.28216412e-03 -1.66771111e-04 9.99990818e-01 6.51988094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68862385300002 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:163.02, Y:95.46, Z:0.66 [[ 2.77950363e-01 -9.60594494e-01 -1.34705589e-03 1.63021538e+02] [ 9.60585893e-01 2.77953579e-01 -4.06819141e-03 9.54564671e+01] [ 4.28230127e-03 -1.63207608e-04 9.99990818e-01 6.61137335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.03, Y:95.48, Z:0.65 [[ 2.79202122e-01 -9.60231411e-01 -1.34615503e-03 1.63031747e+02] [ 9.60222805e-01 2.79205323e-01 -4.06848948e-03 9.54800890e+01] [ 4.28254504e-03 -1.56677865e-04 9.99990818e-01 6.51921310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.04, Y:95.50, Z:0.65 [[ 2.82958954e-01 -9.59131076e-01 -1.34515493e-03 1.63041677e+02] [ 9.59122456e-01 2.82962118e-01 -4.06882011e-03 9.55015694e+01] [ 4.28315970e-03 -1.38859214e-04 9.99990818e-01 6.50638768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:163.05, Y:95.52, Z:0.66 [[ 2.84946418e-01 -9.58542504e-01 -1.34402600e-03 1.63049376e+02] [ 9.58533876e-01 2.84949558e-01 -4.06919299e-03 9.55243327e+01] [ 4.28347405e-03 -1.28792489e-04 9.99990818e-01 6.56920120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:95.55, Z:0.65 [[ 2.90198326e-01 -9.56965584e-01 -1.34289984e-03 1.63059932e+02] [ 9.56956936e-01 2.90201414e-01 -4.06956461e-03 9.55476593e+01] [ 4.28414470e-03 -1.04116481e-04 9.99990818e-01 6.52633968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:95.57, Z:0.65 [[ 2.92768921e-01 -9.56182283e-01 -1.34184037e-03 1.63068765e+02] [ 9.56173626e-01 2.92771982e-01 -4.06991391e-03 9.55718186e+01] [ 4.28443284e-03 -9.14880692e-05 9.99990818e-01 6.53050320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.08, Y:95.59, Z:0.65 [[ 2.95353764e-01 -9.55387019e-01 -1.34076582e-03 1.63077196e+02] [ 9.55378352e-01 2.95356796e-01 -4.07026787e-03 9.55943907e+01] [ 4.28468539e-03 -7.87697021e-05 9.99990818e-01 6.52805223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:95.62, Z:0.65 [[ 2.97602726e-01 -9.54688861e-01 -1.33984739e-03 1.63085849e+02] [ 9.54680186e-01 2.97605735e-01 -4.07057018e-03 9.56177077e+01] [ 4.28487428e-03 -6.77129782e-05 9.99990818e-01 6.52958630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.10, Y:95.64, Z:0.65 [[ 3.02238958e-01 -9.53231252e-01 -1.33875389e-03 1.63096295e+02] [ 9.53222560e-01 3.02241919e-01 -4.07092978e-03 9.56413203e+01] [ 4.28516504e-03 -4.57368338e-05 9.99990818e-01 6.53285130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:95.66, Z:0.65 [[ 3.04060277e-01 -9.52651856e-01 -1.33769331e-03 1.63104549e+02] [ 9.52643157e-01 3.04063218e-01 -4.07127826e-03 9.56642068e+01] [ 4.28525412e-03 -3.64303862e-05 9.99990818e-01 6.53425013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.11, Y:95.69, Z:0.65 [[ 3.07670806e-01 -9.51491928e-01 -1.33658500e-03 1.63113686e+02] [ 9.51483216e-01 3.07673709e-01 -4.07164208e-03 9.56870621e+01] [ 4.28536663e-03 -1.90127962e-05 9.99990818e-01 6.51085579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.12, Y:95.71, Z:0.65 [[ 3.09408650e-01 -9.50928233e-01 -1.33549746e-03 1.63121869e+02] [ 9.50919514e-01 3.09411532e-01 -4.07199876e-03 9.57115833e+01] [ 4.28539690e-03 -1.00389586e-05 9.99990818e-01 6.52956349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.048623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.13, Y:95.74, Z:0.65 [[ 3.10914900e-01 -9.50436818e-01 -1.33446476e-03 1.63129752e+02] [ 9.50428093e-01 3.10917763e-01 -4.07233717e-03 9.57361205e+01] [ 4.28540797e-03 -2.16249497e-06 9.99990818e-01 6.53769766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:95.76, Z:0.65 [[ 3.12492998e-01 -9.49919127e-01 -1.33341709e-03 1.63137639e+02] [ 9.49910396e-01 3.12495843e-01 -4.07268018e-03 9.57604209e+01] [ 4.28540410e-03 6.05728680e-06 9.99990818e-01 6.53994934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.108623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.14, Y:95.78, Z:0.66 [[ 3.15365404e-01 -9.48969381e-01 -1.33237504e-03 1.63144877e+02] [ 9.48960641e-01 3.15368218e-01 -4.07302106e-03 9.57839242e+01] [ 4.28536101e-03 2.01184629e-05 9.99990818e-01 6.55587231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.15, Y:95.81, Z:0.66 [[ 3.16420106e-01 -9.48618229e-01 -1.33128691e-03 1.63151810e+02] [ 9.48609484e-01 3.16422906e-01 -4.07337668e-03 9.58074553e+01] [ 4.28532905e-03 2.60268925e-05 9.99990818e-01 6.55811174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.16, Y:95.83, Z:0.66 [[ 3.16844914e-01 -9.48476426e-01 -1.33020637e-03 1.63158859e+02] [ 9.48467678e-01 3.16847705e-01 -4.07372952e-03 9.58319089e+01] [ 4.28530925e-03 2.90827357e-05 9.99990818e-01 6.56114495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.17, Y:95.86, Z:0.66 [[ 3.17105349e-01 -9.48389388e-01 -1.32918034e-03 1.63165648e+02] [ 9.48380638e-01 3.17108133e-01 -4.07406427e-03 9.58552571e+01] [ 4.28529321e-03 3.13386749e-05 9.99990818e-01 6.55680298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:95.88, Z:0.65 [[ 3.16676927e-01 -9.48532530e-01 -1.32811257e-03 1.63171909e+02] [ 9.48523780e-01 3.16679710e-01 -4.07441232e-03 9.58793162e+01] [ 4.28529893e-03 3.05260168e-05 9.99990818e-01 6.54485477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:95.90, Z:0.65 [[ 3.15903859e-01 -9.48790278e-01 -1.32700307e-03 1.63178776e+02] [ 9.48781528e-01 3.15906644e-01 -4.07477364e-03 9.59028943e+01] [ 4.28531470e-03 2.82007198e-05 9.99990818e-01 6.54328635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:95.93, Z:0.66 [[ 3.14945048e-01 -9.49108982e-01 -1.32589399e-03 1.63185575e+02] [ 9.49100233e-01 3.14947838e-01 -4.07513449e-03 9.59269971e+01] [ 4.28533419e-03 2.50371313e-05 9.99990818e-01 6.55278099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:95.95, Z:0.66 [[ 3.13017050e-01 -9.49746583e-01 -1.32479120e-03 1.63191740e+02] [ 9.49737839e-01 3.13019853e-01 -4.07549297e-03 9.59493234e+01] [ 4.28537147e-03 1.74944582e-05 9.99990818e-01 6.55705353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:95.97, Z:0.66 [[ 3.11811676e-01 -9.50143003e-01 -1.32360514e-03 1.63198761e+02] [ 9.50134261e-01 3.11814485e-01 -4.07587813e-03 9.59731743e+01] [ 4.28538635e-03 1.33038033e-05 9.99990818e-01 6.55577796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.20, Y:96.00, Z:0.66 [[ 3.10575163e-01 -9.50547905e-01 -1.32251744e-03 1.63204353e+02] [ 9.50539165e-01 3.10577979e-01 -4.07623103e-03 9.59968886e+01] [ 4.28539766e-03 8.87149811e-06 9.99990818e-01 6.61946308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.21, Y:96.02, Z:0.66 [[ 3.08961809e-01 -9.51073527e-01 -1.32143608e-03 1.63211138e+02] [ 9.51064791e-01 3.08964635e-01 -4.07658156e-03 9.60197700e+01] [ 4.28540582e-03 2.73668917e-06 9.99990818e-01 6.56333661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:96.04, Z:0.66 [[ 3.07929590e-01 -9.51408232e-01 -1.32031451e-03 1.63217927e+02] [ 9.51399497e-01 3.07932421e-01 -4.07694478e-03 9.60437955e+01] [ 4.28540647e-03 -7.34626171e-07 9.99990818e-01 6.55950746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:96.07, Z:0.66 [[ 3.06845268e-01 -9.51758499e-01 -1.31924172e-03 1.63224533e+02] [ 9.51749766e-01 3.06848104e-01 -4.07729189e-03 9.60664058e+01] [ 4.28540403e-03 -4.49027759e-06 9.99990818e-01 6.55257301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.23, Y:96.09, Z:0.65 [[ 3.04261899e-01 -9.52587507e-01 -1.31822923e-03 1.63230342e+02] [ 9.52578780e-01 3.04264754e-01 -4.07761921e-03 9.60895398e+01] [ 4.28537981e-03 -1.50530239e-05 9.99990818e-01 6.54838660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:96.11, Z:0.65 [[ 3.03006445e-01 -9.52987597e-01 -1.31712480e-03 1.63237708e+02] [ 9.52978872e-01 3.03009307e-01 -4.07797592e-03 9.61132439e+01] [ 4.28536155e-03 -1.95391255e-05 9.99990818e-01 6.54311613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:96.14, Z:0.65 [[ 3.01685674e-01 -9.53406536e-01 -1.31607183e-03 1.63244952e+02] [ 9.53397813e-01 3.01688544e-01 -4.07831572e-03 9.61364235e+01] [ 4.28533665e-03 -2.43705831e-05 9.99990818e-01 6.54300035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:96.16, Z:0.65 [[ 3.00216624e-01 -9.53870143e-01 -1.31502156e-03 1.63251352e+02] [ 9.53861423e-01 3.00219502e-01 -4.07865434e-03 9.61587993e+01] [ 4.28530172e-03 -2.98685013e-05 9.99990818e-01 6.54368264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:96.18, Z:0.65 [[ 3.00129586e-01 -9.53897534e-01 -1.31403244e-03 1.63257894e+02] [ 9.53888813e-01 3.00132461e-01 -4.07897298e-03 9.61818323e+01] [ 4.28530606e-03 -2.92203710e-05 9.99990818e-01 6.54624389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:96.21, Z:0.66 [[ 2.99951970e-01 -9.53953401e-01 -1.31295025e-03 1.63264273e+02] [ 9.53944680e-01 2.99954842e-01 -4.07932129e-03 9.62053570e+01] [ 4.28530821e-03 -2.88814456e-05 9.99990818e-01 6.56032943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:96.23, Z:0.66 [[ 3.01201593e-01 -9.53559583e-01 -1.31191191e-03 1.63270942e+02] [ 9.53550857e-01 3.01204450e-01 -4.07965520e-03 9.62296259e+01] [ 4.28534801e-03 -2.21760797e-05 9.99990818e-01 6.60592811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.28, Y:96.25, Z:0.66 [[ 3.02028118e-01 -9.53298116e-01 -1.31084208e-03 1.63277452e+02] [ 9.53289385e-01 3.02030962e-01 -4.07999892e-03 9.62531484e+01] [ 4.28537017e-03 -1.73374434e-05 9.99990818e-01 6.60255585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.28, Y:96.28, Z:0.66 [[ 3.02741071e-01 -9.53071943e-01 -1.30992932e-03 1.63283957e+02] [ 9.53063209e-01 3.02743905e-01 -4.08029195e-03 9.62777816e+01] [ 4.28538489e-03 -1.31734865e-05 9.99990818e-01 6.60360802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:96.30, Z:0.66 [[ 3.03626864e-01 -9.52790121e-01 -1.30887047e-03 1.63290225e+02] [ 9.52781383e-01 3.03629685e-01 -4.08063157e-03 9.63021813e+01] [ 4.28539738e-03 -8.07805267e-06 9.99990818e-01 6.60034806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.798623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.29, Y:96.33, Z:0.66 [[ 3.06269601e-01 -9.51943917e-01 -1.30780406e-03 1.63294642e+02] [ 9.51935170e-01 3.06272393e-01 -4.08097332e-03 9.63263953e+01] [ 4.28540201e-03 4.93338881e-06 9.99990818e-01 6.58078401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:96.35, Z:0.66 [[ 3.07514966e-01 -9.51542347e-01 -1.30690009e-03 1.63300020e+02] [ 9.51533594e-01 3.07517743e-01 -4.08126279e-03 9.63512307e+01] [ 4.28538934e-03 1.14900470e-05 9.99990818e-01 6.60005395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.30, Y:96.38, Z:0.66 [[ 3.10627528e-01 -9.50530817e-01 -1.30585106e-03 1.63303732e+02] [ 9.50522054e-01 3.10630272e-01 -4.08159841e-03 9.63752186e+01] [ 4.28532194e-03 2.66165898e-05 9.99990818e-01 6.60766367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.31, Y:96.40, Z:0.66 [[ 3.11619579e-01 -9.50206049e-01 -1.30494598e-03 1.63308935e+02] [ 9.50197282e-01 3.11622309e-01 -4.08188776e-03 9.63995236e+01] [ 4.28528472e-03 3.20400203e-05 9.99990818e-01 6.61594550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.31, Y:96.42, Z:0.66 [[ 3.12400874e-01 -9.49949469e-01 -1.30405265e-03 1.63314134e+02] [ 9.49940698e-01 3.12403594e-01 -4.08217313e-03 9.64231101e+01] [ 4.28524893e-03 3.65017708e-05 9.99990818e-01 6.59955897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:96.45, Z:0.66 [[ 3.13301010e-01 -9.49652978e-01 -1.30297568e-03 1.63317080e+02] [ 9.49644204e-01 3.13303717e-01 -4.08251686e-03 9.64492129e+01] [ 4.28520142e-03 4.16933587e-05 9.99990818e-01 6.61645997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:96.47, Z:0.66 [[ 3.13271935e-01 -9.49662572e-01 -1.30191646e-03 1.63321330e+02] [ 9.49653796e-01 3.13274637e-01 -4.08285462e-03 9.64734230e+01] [ 4.28519162e-03 4.26738582e-05 9.99990818e-01 6.60137506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:96.50, Z:0.66 [[ 3.12731241e-01 -9.49840765e-01 -1.30081748e-03 1.63326036e+02] [ 9.49831989e-01 3.12733944e-01 -4.08320473e-03 9.64981886e+01] [ 4.28520408e-03 4.13876289e-05 9.99990818e-01 6.60485898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.33, Y:96.52, Z:0.66 [[ 3.10413015e-01 -9.50600900e-01 -1.29976378e-03 1.63329021e+02] [ 9.50592129e-01 3.10415735e-01 -4.08354011e-03 9.65225217e+01] [ 4.28528403e-03 3.20387790e-05 9.99990818e-01 6.60673768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.33, Y:96.55, Z:0.66 [[ 3.08757696e-01 -9.51139842e-01 -1.29886047e-03 1.63334240e+02] [ 9.51131075e-01 3.08760427e-01 -4.08382741e-03 9.65455685e+01] [ 4.28532767e-03 2.55265923e-05 9.99990818e-01 6.59898928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:96.57, Z:0.66 [[ 3.06524250e-01 -9.51861965e-01 -1.29771422e-03 1.63339929e+02] [ 9.51853203e-01 3.06526996e-01 -4.08419162e-03 9.65698241e+01] [ 4.28537110e-03 1.66703378e-05 9.99990818e-01 6.60916867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.34, Y:96.59, Z:0.66 [[ 3.02738599e-01 -9.53072746e-01 -1.29661612e-03 1.63343906e+02] [ 9.53063994e-01 3.02741376e-01 -4.08454021e-03 9.65931239e+01] [ 4.28540330e-03 7.89844385e-07 9.99990818e-01 6.59142954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:96.62, Z:0.66 [[ 3.00566322e-01 -9.53760037e-01 -1.29547457e-03 1.63349761e+02] [ 9.53751289e-01 3.00569113e-01 -4.08490224e-03 9.66181359e+01] [ 4.28539615e-03 -7.77649643e-06 9.99990818e-01 6.60976138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:96.64, Z:0.66 [[ 2.98848447e-01 -9.54299707e-01 -1.29442814e-03 1.63355611e+02] [ 9.54290963e-01 2.98851250e-01 -4.08523380e-03 9.66420450e+01] [ 4.28537889e-03 -1.43952947e-05 9.99990818e-01 6.58878174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:96.67, Z:0.66 [[ 2.94871398e-01 -9.55536073e-01 -1.29333460e-03 1.63359421e+02] [ 9.55527339e-01 2.94874232e-01 -4.08557998e-03 9.66669976e+01] [ 4.28529009e-03 -3.10958876e-05 9.99990818e-01 6.61993158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:96.69, Z:0.66 [[ 2.93084652e-01 -9.56085622e-01 -1.29223902e-03 1.63365715e+02] [ 9.56076892e-01 2.93087498e-01 -4.08592647e-03 9.66911515e+01] [ 4.28523465e-03 -3.79575281e-05 9.99990818e-01 6.62041141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:96.72, Z:0.66 [[ 2.91479546e-01 -9.56576190e-01 -1.29115758e-03 1.63372616e+02] [ 9.56567463e-01 2.91482402e-01 -4.08626818e-03 9.67159976e+01] [ 4.28517656e-03 -4.40157390e-05 9.99990818e-01 6.61338788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:96.74, Z:0.66 [[ 2.89218154e-01 -9.57262344e-01 -1.29012840e-03 1.63377552e+02] [ 9.57253622e-01 2.89221027e-01 -4.08659309e-03 9.67405624e+01] [ 4.28507394e-03 -5.30631724e-05 9.99990818e-01 6.59456166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:96.76, Z:0.66 [[ 2.88526212e-01 -9.57471129e-01 -1.28906292e-03 1.63383727e+02] [ 9.57462408e-01 2.88529087e-01 -4.08692915e-03 9.67649429e+01] [ 4.28504882e-03 -5.50430950e-05 9.99990818e-01 6.58942026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.39, Y:96.79, Z:0.66 [[ 2.88175551e-01 -9.57576729e-01 -1.28804651e-03 1.63389912e+02] [ 9.57568008e-01 2.88178424e-01 -4.08724946e-03 9.67895900e+01] [ 4.28504218e-03 -5.55467682e-05 9.99990818e-01 6.58183985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.39, Y:96.81, Z:0.66 [[ 2.88610987e-01 -9.57445582e-01 -1.28703836e-03 1.63394289e+02] [ 9.57436858e-01 2.88613852e-01 -4.08756689e-03 9.68134950e+01] [ 4.28507996e-03 -5.25412460e-05 9.99990818e-01 6.56863791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:96.84, Z:0.66 [[ 2.89218113e-01 -9.57262362e-01 -1.28598759e-03 1.63400382e+02] [ 9.57253635e-01 2.89220968e-01 -4.08789745e-03 9.68382919e+01] [ 4.28512494e-03 -4.87223061e-05 9.99990818e-01 6.59450166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:96.86, Z:0.66 [[ 2.90157670e-01 -9.56977991e-01 -1.28498736e-03 1.63405817e+02] [ 9.56969260e-01 2.90160512e-01 -4.08821184e-03 9.68625872e+01] [ 4.28518134e-03 -4.34673812e-05 9.99990818e-01 6.60312502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:96.89, Z:0.66 [[ 2.92504172e-01 -9.56263385e-01 -1.28389730e-03 1.63409706e+02] [ 9.56254645e-01 2.92506988e-01 -4.08855414e-03 9.68864747e+01] [ 4.28528355e-03 -3.18136116e-05 9.99990818e-01 6.59282129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.42, Y:96.91, Z:0.66 [[ 2.92265802e-01 -9.56336267e-01 -1.28276652e-03 1.63416840e+02] [ 9.56327526e-01 2.92268615e-01 -4.08890889e-03 9.69105722e+01] [ 4.28528425e-03 -3.16966988e-05 9.99990818e-01 6.59389884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.42, Y:96.93, Z:0.66 [[ 2.93233442e-01 -9.56040013e-01 -1.28174722e-03 1.63422426e+02] [ 9.56031267e-01 2.93236242e-01 -4.08922838e-03 9.69343367e+01] [ 4.28532069e-03 -2.62919002e-05 9.99990818e-01 6.60992412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:96.96, Z:0.66 [[ 2.94062757e-01 -9.55785256e-01 -1.28067030e-03 1.63427618e+02] [ 9.55776507e-01 2.94065545e-01 -4.08956562e-03 9.69581051e+01] [ 4.28534753e-03 -2.14456404e-05 9.99990818e-01 6.60957989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:96.98, Z:0.66 [[ 2.94728615e-01 -9.55580141e-01 -1.27959358e-03 1.63432735e+02] [ 9.55571389e-01 2.94731393e-01 -4.08990249e-03 9.69809547e+01] [ 4.28536600e-03 -1.73317196e-05 9.99990818e-01 6.60095137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.44, Y:97.00, Z:0.66 [[ 2.95137532e-01 -9.55453925e-01 -1.27857959e-03 1.63438006e+02] [ 9.55445170e-01 2.95140301e-01 -4.09021946e-03 9.70039515e+01] [ 4.28537660e-03 -1.44354114e-05 9.99990818e-01 6.59031697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.44, Y:97.03, Z:0.66 [[ 2.95732998e-01 -9.55269785e-01 -1.27746530e-03 1.63442614e+02] [ 9.55261027e-01 2.95735757e-01 -4.09056745e-03 9.70267651e+01] [ 4.28538765e-03 -1.05970378e-05 9.99990818e-01 6.57779609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:97.05, Z:0.66 [[ 2.95438509e-01 -9.55360905e-01 -1.27636194e-03 1.63448491e+02] [ 9.55352146e-01 2.95441266e-01 -4.09091170e-03 9.70508966e+01] [ 4.28538709e-03 -1.07622675e-05 9.99990818e-01 6.57601831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:97.07, Z:0.66 [[ 2.94600281e-01 -9.55619719e-01 -1.27530737e-03 1.63453007e+02] [ 9.55610962e-01 2.94603041e-01 -4.09124042e-03 9.70745416e+01] [ 4.28537945e-03 -1.34171188e-05 9.99990818e-01 6.58283644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.46, Y:97.10, Z:0.66 [[ 2.93743364e-01 -9.55883472e-01 -1.27431156e-03 1.63459261e+02] [ 9.55874716e-01 2.93746127e-01 -4.09155057e-03 9.70987935e+01] [ 4.28536965e-03 -1.62163708e-05 9.99990818e-01 6.58865964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.46, Y:97.12, Z:0.66 [[ 2.92851239e-01 -9.56157169e-01 -1.27326284e-03 1.63464974e+02] [ 9.56148413e-01 2.92854006e-01 -4.09187689e-03 9.71224048e+01] [ 4.28535755e-03 -1.91170302e-05 9.99990818e-01 6.61299192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.47, Y:97.15, Z:0.66 [[ 2.91272628e-01 -9.56639241e-01 -1.27218099e-03 1.63470212e+02] [ 9.56630489e-01 2.91275405e-01 -4.09221322e-03 9.71455359e+01] [ 4.28532678e-03 -2.50574233e-05 9.99990818e-01 6.63442657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.48, Y:97.17, Z:0.67 [[ 2.90311915e-01 -9.56931229e-01 -1.27105839e-03 1.63476543e+02] [ 9.56922478e-01 2.90314696e-01 -4.09256187e-03 9.71701135e+01] [ 4.28530719e-03 -2.81848678e-05 9.99990818e-01 6.65636907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.48, Y:97.19, Z:0.67 [[ 2.88471047e-01 -9.57487777e-01 -1.27000079e-03 1.63482966e+02] [ 9.57479029e-01 2.88473840e-01 -4.09289004e-03 9.71945108e+01] [ 4.28525419e-03 -3.53188522e-05 9.99990818e-01 6.66317221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.49, Y:97.22, Z:0.67 [[ 2.87312676e-01 -9.57836007e-01 -1.26894984e-03 1.63490168e+02] [ 9.57827262e-01 2.87315476e-01 -4.09321585e-03 9.72184085e+01] [ 4.28521845e-03 -3.94019521e-05 9.99990818e-01 6.65768958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.50, Y:97.24, Z:0.67 [[ 2.86045881e-01 -9.58215084e-01 -1.26790367e-03 1.63497358e+02] [ 9.58206341e-01 2.86048688e-01 -4.09353988e-03 9.72423854e+01] [ 4.28517384e-03 -4.39731148e-05 9.99990818e-01 6.65311097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.50, Y:97.27, Z:0.67 [[ 2.84743534e-01 -9.58602898e-01 -1.26686316e-03 1.63504517e+02] [ 9.58594157e-01 2.84746348e-01 -4.09386187e-03 9.72667370e+01] [ 4.28512251e-03 -4.87069278e-05 9.99990818e-01 6.65950911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:97.29, Z:0.66 [[ 2.82295972e-01 -9.59326525e-01 -1.26581196e-03 1.63511366e+02] [ 9.59317791e-01 2.82298804e-01 -4.09418688e-03 9.72899467e+01] [ 4.28499927e-03 -5.85434691e-05 9.99990818e-01 6.64864159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.52, Y:97.31, Z:0.66 [[ 2.80894494e-01 -9.59737820e-01 -1.26471840e-03 1.63519071e+02] [ 9.59729088e-01 2.80897333e-01 -4.09452465e-03 9.73146266e+01] [ 4.28492619e-03 -6.36576083e-05 9.99990818e-01 6.64610158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:97.34, Z:0.66 [[ 2.79383495e-01 -9.60178768e-01 -1.26365894e-03 1.63526758e+02] [ 9.60170039e-01 2.79386344e-01 -4.09485160e-03 9.73379921e+01] [ 4.28483862e-03 -6.92934993e-05 9.99990818e-01 6.63729981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.53, Y:97.36, Z:0.66 [[ 2.77588074e-01 -9.60699364e-01 -1.26255968e-03 1.63534386e+02] [ 9.60690638e-01 2.77590935e-01 -4.09519051e-03 9.73618070e+01] [ 4.28472204e-03 -7.61532151e-05 9.99990818e-01 6.63133684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.54, Y:97.38, Z:0.66 [[ 2.74195243e-01 -9.61673218e-01 -1.26151268e-03 1.63543186e+02] [ 9.61664501e-01 2.74198130e-01 -4.09551301e-03 9.73846269e+01] [ 4.28444959e-03 -9.01817762e-05 9.99990818e-01 6.62048068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.55, Y:97.41, Z:0.66 [[ 2.72625324e-01 -9.62119454e-01 -1.26042488e-03 1.63551175e+02] [ 9.62110741e-01 2.72628221e-01 -4.09584776e-03 9.74088888e+01] [ 4.28432220e-03 -9.60364960e-05 9.99990818e-01 6.63163001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:97.43, Z:0.66 [[ 2.70455649e-01 -9.62731612e-01 -1.25938888e-03 1.63560126e+02] [ 9.62722903e-01 2.70458561e-01 -4.09616628e-03 9.74320574e+01] [ 4.28412127e-03 -1.04611203e-04 9.99990818e-01 6.63249364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.57, Y:97.46, Z:0.66 [[ 2.69479632e-01 -9.63005267e-01 -1.25831832e-03 1.63568581e+02] [ 9.62996560e-01 2.69482549e-01 -4.09649512e-03 9.74565694e+01] [ 4.28404121e-03 -1.07834218e-04 9.99990818e-01 6.63426889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.238623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:163.58, Y:97.48, Z:0.67 [[ 2.68724817e-01 -9.63216171e-01 -1.25729207e-03 1.63575425e+02] [ 9.63207465e-01 2.68727736e-01 -4.09681008e-03 9.74806223e+01] [ 4.28398297e-03 -1.10118569e-04 9.99990818e-01 6.71972478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:97.50, Z:0.66 [[ 2.67958901e-01 -9.63429525e-01 -1.25623106e-03 1.63587285e+02] [ 9.63420820e-01 2.67961822e-01 -4.09713539e-03 9.75035769e+01] [ 4.28392317e-03 -1.12415262e-04 9.99990818e-01 6.64321322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.298623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.60, Y:97.53, Z:0.66 [[ 2.67822944e-01 -9.63467330e-01 -1.25517607e-03 1.63596019e+02] [ 9.63458623e-01 2.67825862e-01 -4.09745857e-03 9.75267640e+01] [ 4.28393608e-03 -1.11916794e-04 9.99990818e-01 6.64768922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:97.55, Z:0.66 [[ 2.67568077e-01 -9.63538142e-01 -1.25407970e-03 1.63604477e+02] [ 9.63529435e-01 2.67570992e-01 -4.09779410e-03 9.75495525e+01] [ 4.28393627e-03 -1.11903815e-04 9.99990818e-01 6.64297261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:97.57, Z:0.66 [[ 2.68080830e-01 -9.63395609e-01 -1.25299151e-03 1.63615408e+02] [ 9.63386898e-01 2.68083736e-01 -4.09812681e-03 9.75728650e+01] [ 4.28402402e-03 -1.08486365e-04 9.99990818e-01 6.64399627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:97.60, Z:0.66 [[ 2.68489241e-01 -9.63281869e-01 -1.25198878e-03 1.63623745e+02] [ 9.63273156e-01 2.68492140e-01 -4.09843313e-03 9.75950827e+01] [ 4.28409547e-03 -1.05621979e-04 9.99990818e-01 6.63699046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.418623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.63, Y:97.62, Z:0.67 [[ 2.69013748e-01 -9.63135525e-01 -1.25085208e-03 1.63632006e+02] [ 9.63126809e-01 2.69016637e-01 -4.09878002e-03 9.76194620e+01] [ 4.28418066e-03 -1.02101000e-04 9.99990818e-01 6.69894227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.64, Y:97.64, Z:0.67 [[ 2.71585409e-01 -9.62413530e-01 -1.24979173e-03 1.63643280e+02] [ 9.62404805e-01 2.71588270e-01 -4.09910332e-03 9.76420511e+01] [ 4.28446127e-03 -8.95489091e-05 9.99990818e-01 6.66637510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.65, Y:97.67, Z:0.67 [[ 2.72897475e-01 -9.62042311e-01 -1.24868684e-03 1.63651979e+02] [ 9.62033581e-01 2.72900319e-01 -4.09943986e-03 9.76657172e+01] [ 4.28460164e-03 -8.25518786e-05 9.99990818e-01 6.68097561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.66, Y:97.69, Z:0.67 [[ 2.76521423e-01 -9.61006944e-01 -1.24762875e-03 1.63662288e+02] [ 9.60998201e-01 2.76524230e-01 -4.09976186e-03 9.76876481e+01] [ 4.28489919e-03 -6.52969952e-05 9.99990818e-01 6.67716046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:97.71, Z:0.67 [[ 2.78316135e-01 -9.60488717e-01 -1.24652445e-03 1.63670993e+02] [ 9.60479967e-01 2.78318920e-01 -4.10009759e-03 9.77107370e+01] [ 4.28502881e-03 -5.61384490e-05 9.99990818e-01 6.67492543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.68, Y:97.73, Z:0.67 [[ 2.79902082e-01 -9.60027746e-01 -1.24543415e-03 1.63679910e+02] [ 9.60018990e-01 2.79904849e-01 -4.10042875e-03 9.77349727e+01] [ 4.28512843e-03 -4.79218898e-05 9.99990818e-01 6.68331645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.69, Y:97.76, Z:0.67 [[ 2.83770222e-01 -9.58891502e-01 -1.24436879e-03 1.63689848e+02] [ 9.58882734e-01 2.83772949e-01 -4.10075203e-03 9.77576785e+01] [ 4.28529448e-03 -2.95324329e-05 9.99990818e-01 6.66886589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:97.78, Z:0.67 [[ 2.85722452e-01 -9.58311606e-01 -1.24330730e-03 1.63697790e+02] [ 9.58302831e-01 2.85725157e-01 -4.10107384e-03 9.77812260e+01] [ 4.28535083e-03 -1.96960305e-05 9.99990818e-01 6.66784623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.71, Y:97.80, Z:0.67 [[ 2.87512709e-01 -9.57776017e-01 -1.24219387e-03 1.63705125e+02] [ 9.57767236e-01 2.87515393e-01 -4.10141107e-03 9.78033806e+01] [ 4.28538301e-03 -1.05247834e-05 9.99990818e-01 6.66049131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.71, Y:97.83, Z:0.67 [[ 2.89385685e-01 -9.57211777e-01 -1.24103828e-03 1.63712810e+02] [ 9.57202988e-01 2.89388346e-01 -4.10176070e-03 9.78275855e+01] [ 4.28539567e-03 -9.34716023e-07 9.99990818e-01 6.67449075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.72, Y:97.85, Z:0.67 [[ 2.93652180e-01 -9.55911533e-01 -1.23997407e-03 1.63720872e+02] [ 9.55902732e-01 2.93654797e-01 -4.10208239e-03 9.78508438e+01] [ 4.28535220e-03 1.92908327e-05 9.99990818e-01 6.65997428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:97.87, Z:0.67 [[ 2.95377580e-01 -9.55379794e-01 -1.23886562e-03 1.63728551e+02] [ 9.55370986e-01 2.95380177e-01 -4.10241713e-03 9.78749613e+01] [ 4.28530277e-03 2.81857724e-05 9.99990818e-01 6.68620357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:97.90, Z:0.67 [[ 2.97031606e-01 -9.54866846e-01 -1.23781378e-03 1.63735745e+02] [ 9.54858032e-01 2.97034182e-01 -4.10273447e-03 9.78983307e+01] [ 4.28523813e-03 3.67053819e-05 9.99990818e-01 6.68263604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:97.92, Z:0.67 [[ 2.99982739e-01 -9.53943828e-01 -1.23671772e-03 1.63742702e+02] [ 9.53935005e-01 2.99985284e-01 -4.10306484e-03 9.79226532e+01] [ 4.28509049e-03 5.11003034e-05 9.99990818e-01 6.70852683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.75, Y:97.95, Z:0.67 [[ 3.00666558e-01 -9.53728522e-01 -1.23568733e-03 1.63748861e+02] [ 9.53719696e-01 3.00669093e-01 -4.10337513e-03 9.79452212e+01] [ 4.28503889e-03 5.52483356e-05 9.99990818e-01 6.71076875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:97.97, Z:0.67 [[ 3.00962521e-01 -9.53635170e-01 -1.23452137e-03 1.63756053e+02] [ 9.53626342e-01 3.00965047e-01 -4.10372589e-03 9.79699770e+01] [ 4.28500511e-03 5.77955909e-05 9.99990818e-01 6.73091330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:97.99, Z:0.67 [[ 3.00475497e-01 -9.53788737e-01 -1.23348142e-03 1.63762769e+02] [ 9.53779909e-01 3.00478024e-01 -4.10403844e-03 9.79946656e+01] [ 4.28501970e-03 5.66931919e-05 9.99990818e-01 6.72024742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:98.02, Z:0.67 [[ 2.99640433e-01 -9.54051409e-01 -1.23244231e-03 1.63769622e+02] [ 9.54042582e-01 2.99642963e-01 -4.10435046e-03 9.80183222e+01] [ 4.28505401e-03 5.40269032e-05 9.99990818e-01 6.70559501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.958623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.78, Y:98.04, Z:0.67 [[ 2.97344941e-01 -9.54769328e-01 -1.23136097e-03 1.63776297e+02] [ 9.54760506e-01 2.97347488e-01 -4.10467486e-03 9.80405842e+01] [ 4.28515975e-03 4.48494825e-05 9.99990818e-01 6.66222501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:98.06, Z:0.67 [[ 2.95641770e-01 -9.55298085e-01 -1.23019868e-03 1.63783133e+02] [ 9.55289265e-01 2.95644327e-01 -4.10502317e-03 9.80642915e+01] [ 4.28522204e-03 3.84207240e-05 9.99990818e-01 6.66642281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.018623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.79, Y:98.09, Z:0.67 [[ 2.94041595e-01 -9.55791834e-01 -1.22908085e-03 1.63789578e+02] [ 9.55783018e-01 2.94044162e-01 -4.10535784e-03 9.80868462e+01] [ 4.28527154e-03 3.24113664e-05 9.99990818e-01 6.66017458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.80, Y:98.11, Z:0.67 [[ 2.92169734e-01 -9.56365693e-01 -1.22792437e-03 1.63795953e+02] [ 9.56356880e-01 2.92172313e-01 -4.10570371e-03 9.81097903e+01] [ 4.28531968e-03 2.52284415e-05 9.99990818e-01 6.65382165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.80, Y:98.13, Z:0.67 [[ 2.88241551e-01 -9.57556945e-01 -1.22677593e-03 1.63803546e+02] [ 9.57548142e-01 2.88244161e-01 -4.10604684e-03 9.81326457e+01] [ 4.28538466e-03 8.83629876e-06 9.99990818e-01 6.65145457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.108623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.81, Y:98.16, Z:0.67 [[ 2.86098478e-01 -9.58199436e-01 -1.22563594e-03 1.63809857e+02] [ 9.58190637e-01 2.86101104e-01 -4.10638709e-03 9.81563284e+01] [ 4.28539359e-03 4.38219582e-07 9.99990818e-01 6.72501431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:98.18, Z:0.67 [[ 2.83497481e-01 -9.58972199e-01 -1.22454658e-03 1.63818452e+02] [ 9.58963406e-01 2.83500125e-01 -4.10671192e-03 9.81800173e+01] [ 4.28538167e-03 -1.00528797e-05 9.99990818e-01 6.67510383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:98.20, Z:0.67 [[ 2.81247274e-01 -9.59634552e-01 -1.22349048e-03 1.63826044e+02] [ 9.59625764e-01 2.81249934e-01 -4.10702653e-03 9.82032152e+01] [ 4.28535118e-03 -1.90029722e-05 9.99990818e-01 6.69093338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.83, Y:98.23, Z:0.67 [[ 2.76652184e-01 -9.60969341e-01 -1.22240229e-03 1.63834685e+02] [ 9.60960564e-01 2.76654882e-01 -4.10735039e-03 9.82267513e+01] [ 4.28522136e-03 -3.83729384e-05 9.99990818e-01 6.71136947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.84, Y:98.25, Z:0.67 [[ 2.74417513e-01 -9.61609867e-01 -1.22135570e-03 1.63842506e+02] [ 9.61601095e-01 2.74420226e-01 -4.10766158e-03 9.82507235e+01] [ 4.28513261e-03 -4.72427061e-05 9.99990818e-01 6.71995650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.85, Y:98.27, Z:0.67 [[ 2.70551868e-01 -9.62704627e-01 -1.22027162e-03 1.63851970e+02] [ 9.62695864e-01 2.70554612e-01 -4.10798360e-03 9.82746344e+01] [ 4.28492494e-03 -6.33278063e-05 9.99990818e-01 6.72213991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28862385300002 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:163.86, Y:98.30, Z:0.68 [[ 2.69065328e-01 -9.63121157e-01 -1.21917844e-03 1.63859110e+02] [ 9.63112397e-01 2.69068081e-01 -4.10830801e-03 9.82987181e+01] [ 4.28484037e-03 -6.88026282e-05 9.99990818e-01 6.81960759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:98.32, Z:0.67 [[ 2.67633611e-01 -9.63519988e-01 -1.21805886e-03 1.63869354e+02] [ 9.63511231e-01 2.67636372e-01 -4.10863993e-03 9.83212285e+01] [ 4.28475355e-03 -7.40032500e-05 9.99990818e-01 6.69257789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:98.34, Z:0.67 [[ 2.65825806e-01 -9.64020311e-01 -1.21689514e-03 1.63879179e+02] [ 9.64011557e-01 2.65828579e-01 -4.10898457e-03 9.83428297e+01] [ 4.28463009e-03 -8.08268406e-05 9.99990818e-01 6.68478121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:98.37, Z:0.67 [[ 2.65369305e-01 -9.64146075e-01 -1.21580096e-03 1.63887589e+02] [ 9.64137321e-01 2.65372077e-01 -4.10930830e-03 9.83668302e+01] [ 4.28461309e-03 -8.17147942e-05 9.99990818e-01 6.71452501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:98.39, Z:0.67 [[ 2.65117711e-01 -9.64215289e-01 -1.21472943e-03 1.63894652e+02] [ 9.64206535e-01 2.65120481e-01 -4.10962502e-03 9.83918281e+01] [ 4.28461293e-03 -8.17156710e-05 9.99990818e-01 6.71563829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.90, Y:98.42, Z:0.67 [[ 2.65016235e-01 -9.64243186e-01 -1.21365697e-03 1.63904212e+02] [ 9.64234431e-01 2.65019001e-01 -4.10994172e-03 9.84159805e+01] [ 4.28462546e-03 -8.10485549e-05 9.99990818e-01 6.72773333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:98.44, Z:0.67 [[ 2.65019092e-01 -9.64242402e-01 -1.21255284e-03 1.63912246e+02] [ 9.64233645e-01 2.65021854e-01 -4.11026744e-03 9.84386328e+01] [ 4.28464716e-03 -7.98848983e-05 9.99990818e-01 6.71194335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:98.46, Z:0.67 [[ 2.65189370e-01 -9.64195587e-01 -1.21160825e-03 1.63920265e+02] [ 9.64186828e-01 2.65192126e-01 -4.11054587e-03 9.84603989e+01] [ 4.28467915e-03 -7.81436440e-05 9.99990818e-01 6.71505653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.93, Y:98.48, Z:0.67 [[ 2.65722308e-01 -9.64048852e-01 -1.21046215e-03 1.63928101e+02] [ 9.64040091e-01 2.65725054e-01 -4.11088334e-03 9.84833416e+01] [ 4.28474249e-03 -7.45806294e-05 9.99990818e-01 6.71693991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.94, Y:98.51, Z:0.67 [[ 2.67742486e-01 -9.63489750e-01 -1.20936388e-03 1.63937491e+02] [ 9.63480981e-01 2.67745209e-01 -4.11120641e-03 9.85074023e+01] [ 4.28490662e-03 -6.44544739e-05 9.99990818e-01 6.73107075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58862385300003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.95, Y:98.53, Z:0.67 [[ 2.68825081e-01 -9.63188256e-01 -1.20829143e-03 1.63945084e+02] [ 9.63179482e-01 2.68827791e-01 -4.11152158e-03 9.85303027e+01] [ 4.28499161e-03 -5.85213897e-05 9.99990818e-01 6.71623789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.95, Y:98.55, Z:0.67 [[ 2.69927379e-01 -9.62879927e-01 -1.20717071e-03 1.63952578e+02] [ 9.62871148e-01 2.69930073e-01 -4.11185061e-03 9.85529052e+01] [ 4.28507009e-03 -5.24487945e-05 9.99990818e-01 6.69672078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:98.58, Z:0.67 [[ 2.72376759e-01 -9.62189922e-01 -1.20604556e-03 1.63961528e+02] [ 9.62181136e-01 2.72379426e-01 -4.11218060e-03 9.85762571e+01] [ 4.28520073e-03 -4.03718617e-05 9.99990818e-01 6.69968557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.97, Y:98.60, Z:0.67 [[ 2.73388535e-01 -9.61902935e-01 -1.20496602e-03 1.63969639e+02] [ 9.61894145e-01 2.73391188e-01 -4.11249690e-03 9.86006775e+01] [ 4.28524993e-03 -3.47402545e-05 9.99990818e-01 6.70946258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.708623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:163.98, Y:98.62, Z:0.67 [[ 2.75207120e-01 -9.61384206e-01 -1.20390041e-03 1.63978324e+02] [ 9.61375409e-01 2.75209752e-01 -4.11280883e-03 9.86235557e+01] [ 4.28531458e-03 -2.55259769e-05 9.99990818e-01 6.70712427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.738623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.99, Y:98.65, Z:0.68 [[ 2.76006830e-01 -9.61154921e-01 -1.20278906e-03 1.63985568e+02] [ 9.61146121e-01 2.76009450e-01 -4.11313382e-03 9.86474551e+01] [ 4.28533996e-03 -2.08030154e-05 9.99990818e-01 6.79246017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.99, Y:98.67, Z:0.67 [[ 2.76254881e-01 -9.61083657e-01 -1.20171729e-03 1.63994368e+02] [ 9.61074855e-01 2.76257494e-01 -4.11344693e-03 9.86711786e+01] [ 4.28535002e-03 -1.85804801e-05 9.99990818e-01 6.74462173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:98.69, Z:0.67 [[ 2.76634068e-01 -9.60974584e-01 -1.20064405e-03 1.64002108e+02] [ 9.60965779e-01 2.76636673e-01 -4.11376016e-03 9.86945499e+01] [ 4.28536114e-03 -1.57716347e-05 9.99990818e-01 6.74749841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:98.72, Z:0.67 [[ 2.77549442e-01 -9.60710606e-01 -1.19953023e-03 1.64011052e+02] [ 9.60701797e-01 2.77552033e-01 -4.11408492e-03 9.87180078e+01] [ 4.28537707e-03 -1.05288719e-05 9.99990818e-01 6.74805626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.02, Y:98.74, Z:0.67 [[ 2.77836053e-01 -9.60627759e-01 -1.19846283e-03 1.64018903e+02] [ 9.60618948e-01 2.77838638e-01 -4.11439583e-03 9.87408499e+01] [ 4.28538213e-03 -8.13860191e-06 9.99990818e-01 6.73825972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:98.77, Z:0.67 [[ 2.78171811e-01 -9.60530588e-01 -1.19753983e-03 1.64027268e+02] [ 9.60521774e-01 2.78174389e-01 -4.11466447e-03 9.87652314e+01] [ 4.28538599e-03 -5.67941814e-06 9.99990818e-01 6.73308148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:98.79, Z:0.67 [[ 2.78436894e-01 -9.60453781e-01 -1.19647462e-03 1.64034964e+02] [ 9.60444965e-01 2.78439464e-01 -4.11497419e-03 9.87888521e+01] [ 4.28538827e-03 -3.38739368e-06 9.99990818e-01 6.70953642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:98.81, Z:0.67 [[ 2.79600503e-01 -9.60115686e-01 -1.19536843e-03 1.64043250e+02] [ 9.60106866e-01 2.79603058e-01 -4.11529550e-03 9.88129430e+01] [ 4.28538843e-03 2.95725599e-06 9.99990818e-01 6.72785162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:98.84, Z:0.67 [[ 2.80118024e-01 -9.59964826e-01 -1.19430604e-03 1.64050850e+02] [ 9.59956003e-01 2.80120570e-01 -4.11560380e-03 9.88370619e+01] [ 4.28538457e-03 6.37354790e-06 9.99990818e-01 6.72926053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.06, Y:98.86, Z:0.67 [[ 2.81749142e-01 -9.59487362e-01 -1.19324663e-03 1.64059758e+02] [ 9.59478534e-01 2.81751668e-01 -4.11591093e-03 9.88614320e+01] [ 4.28536375e-03 1.47598401e-05 9.99990818e-01 6.74831776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:164.07, Y:98.89, Z:0.67 [[ 2.82368165e-01 -9.59305373e-01 -1.19215573e-03 1.64066787e+02] [ 9.59296542e-01 2.82370681e-01 -4.11622688e-03 9.88853954e+01] [ 4.28534839e-03 1.86605612e-05 9.99990818e-01 6.74448166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.07, Y:98.91, Z:0.67 [[ 2.83138793e-01 -9.59078206e-01 -1.19102244e-03 1.64073604e+02] [ 9.59069372e-01 2.83141297e-01 -4.11655477e-03 9.89080906e+01] [ 4.28532560e-03 2.32832047e-05 9.99990818e-01 6.74601284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:164.08, Y:98.93, Z:0.68 [[ 2.84333946e-01 -9.58724565e-01 -1.18983054e-03 1.64080281e+02] [ 9.58715726e-01 2.84336434e-01 -4.11689924e-03 9.89328734e+01] [ 4.28528461e-03 2.98649629e-05 9.99990818e-01 6.76612799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:164.09, Y:98.96, Z:0.68 [[ 2.84404164e-01 -9.58703739e-01 -1.18877026e-03 1.64086929e+02] [ 9.58694898e-01 2.84406646e-01 -4.11720538e-03 9.89578365e+01] [ 4.28527435e-03 3.12823713e-05 9.99990818e-01 6.77247600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:164.09, Y:98.98, Z:0.68 [[ 2.84325174e-01 -9.58727169e-01 -1.18770916e-03 1.64093758e+02] [ 9.58718328e-01 2.84327653e-01 -4.11751146e-03 9.89819545e+01] [ 4.28526866e-03 3.20336233e-05 9.99990818e-01 6.78795135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18862385300002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:164.10, Y:99.01, Z:0.68 [[ 2.83682828e-01 -9.58917434e-01 -1.18664715e-03 1.64101750e+02] [ 9.58908593e-01 2.83685309e-01 -4.11781750e-03 9.90058454e+01] [ 4.28528135e-03 3.02679615e-05 9.99990818e-01 6.79149681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:164.11, Y:99.03, Z:0.68 [[ 2.83247232e-01 -9.59046193e-01 -1.18557568e-03 1.64108582e+02] [ 9.59037352e-01 2.83249712e-01 -4.11812597e-03 9.90296748e+01] [ 4.28528700e-03 2.94364175e-05 9.99990818e-01 6.78805313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:164.12, Y:99.05, Z:0.68 [[ 2.82923844e-01 -9.59141645e-01 -1.18446146e-03 1.64115193e+02] [ 9.59132804e-01 2.82926322e-01 -4.11844642e-03 9.90539017e+01] [ 4.28528880e-03 2.91508507e-05 9.99990818e-01 6.79515067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:164.12, Y:99.08, Z:0.68 [[ 2.82437852e-01 -9.59284869e-01 -1.18331974e-03 1.64121330e+02] [ 9.59276027e-01 2.82440329e-01 -4.11877443e-03 9.90768639e+01] [ 4.28529521e-03 2.81675449e-05 9.99990818e-01 6.79515182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30862385300003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:164.13, Y:99.10, Z:0.68 [[ 2.82245456e-01 -9.59341496e-01 -1.18213420e-03 1.64128022e+02] [ 9.59332653e-01 2.82247930e-01 -4.11911467e-03 9.91006570e+01] [ 4.28529256e-03 2.85414564e-05 9.99990818e-01 6.79465516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33862385300003 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:164.13, Y:99.12, Z:0.68 [[ 2.82016518e-01 -9.59408823e-01 -1.18098645e-03 1.64134475e+02] [ 9.59399979e-01 2.82018989e-01 -4.11944371e-03 9.91247283e+01] [ 4.28529125e-03 2.87128014e-05 9.99990818e-01 6.78651398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:164.14, Y:99.15, Z:0.68 [[ 2.82058297e-01 -9.59396542e-01 -1.17983928e-03 1.64140586e+02] [ 9.59387697e-01 2.82060763e-01 -4.11977224e-03 9.91471119e+01] [ 4.28528161e-03 3.00926489e-05 9.99990818e-01 6.78196811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.398623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:164.15, Y:99.17, Z:0.68 [[ 2.82302388e-01 -9.59324748e-01 -1.17865322e-03 1.64145899e+02] [ 9.59315901e-01 2.82304846e-01 -4.12011154e-03 9.91718037e+01] [ 4.28526449e-03 3.24165487e-05 9.99990818e-01 6.78283269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.428623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:164.15, Y:99.20, Z:0.68 [[ 2.82457880e-01 -9.59278979e-01 -1.17760431e-03 1.64151790e+02] [ 9.59270130e-01 2.82460333e-01 -4.12041132e-03 9.91970623e+01] [ 4.28525047e-03 3.42020036e-05 9.99990818e-01 6.79268317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.458623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:164.16, Y:99.22, Z:0.69 [[ 2.82762989e-01 -9.59189089e-01 -1.17653548e-03 1.64156596e+02] [ 9.59180238e-01 2.82765434e-01 -4.12071649e-03 9.92225745e+01] [ 4.28522986e-03 3.66765258e-05 9.99990818e-01 6.85386878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.488623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:164.16, Y:99.25, Z:0.68 [[ 2.82885312e-01 -9.59153022e-01 -1.17544974e-03 1.64162540e+02] [ 9.59144169e-01 2.82887751e-01 -4.12102618e-03 9.92469705e+01] [ 4.28521504e-03 3.83520134e-05 9.99990818e-01 6.80015426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.518623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:164.17, Y:99.27, Z:0.69 [[ 2.82878769e-01 -9.59154953e-01 -1.17435366e-03 1.64167503e+02] [ 9.59146099e-01 2.82881204e-01 -4.12133850e-03 9.92705506e+01] [ 4.28520481e-03 3.94624269e-05 9.99990818e-01 6.86514346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.548623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:164.17, Y:99.29, Z:0.68 [[ 2.82530412e-01 -9.59257624e-01 -1.17341883e-03 1.64174394e+02] [ 9.59248770e-01 2.82532846e-01 -4.12160464e-03 9.92947615e+01] [ 4.28521004e-03 3.88780854e-05 9.99990818e-01 6.80023928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.578623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:164.18, Y:99.32, Z:0.68 [[ 2.82373668e-01 -9.59303777e-01 -1.17233561e-03 1.64179677e+02] [ 9.59294923e-01 2.82376099e-01 -4.12191273e-03 9.93189974e+01] [ 4.28520601e-03 3.93040159e-05 9.99990818e-01 6.78801417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.608623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:164.18, Y:99.34, Z:0.68 [[ 2.82977456e-01 -9.59125846e-01 -1.17121274e-03 1.64183131e+02] [ 9.59116988e-01 2.82979876e-01 -4.12223176e-03 9.93444415e+01] [ 4.28516866e-03 4.31686217e-05 9.99990818e-01 6.79209896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.638623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:164.19, Y:99.37, Z:0.68 [[ 2.83419168e-01 -9.58995415e-01 -1.17012003e-03 1.64187728e+02] [ 9.58986555e-01 2.83421579e-01 -4.12254191e-03 9.93681268e+01] [ 4.28513606e-03 4.62780212e-05 9.99990818e-01 6.79233124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.668623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:164.19, Y:99.39, Z:0.68 [[ 2.85188413e-01 -9.58470763e-01 -1.16898500e-03 1.64190824e+02] [ 9.58461897e-01 2.85190803e-01 -4.12286373e-03 9.93939227e+01] [ 4.28502812e-03 5.53653794e-05 9.99990818e-01 6.80420613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.20, Y:99.42, Z:0.68 [[ 2.85861103e-01 -9.58270351e-01 -1.16787660e-03 1.64195174e+02] [ 9.58261483e-01 2.85863482e-01 -4.12317768e-03 9.94184314e+01] [ 4.28497220e-03 5.95249579e-05 9.99990818e-01 6.79904043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72862385300002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:164.20, Y:99.44, Z:0.68 [[ 2.86498016e-01 -9.58080125e-01 -1.16672288e-03 1.64199231e+02] [ 9.58071253e-01 2.86500385e-01 -4.12350412e-03 9.94426598e+01] [ 4.28491390e-03 6.35721017e-05 9.99990818e-01 6.79817027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75862385300002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:164.20, Y:99.47, Z:0.68 [[ 2.87546029e-01 -9.57766111e-01 -1.16560998e-03 1.64200828e+02] [ 9.57757235e-01 2.87548383e-01 -4.12381869e-03 9.94684357e+01] [ 4.28482305e-03 6.94162953e-05 9.99990818e-01 6.80132947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:164.20, Y:99.49, Z:0.68 [[ 2.87203006e-01 -9.57869029e-01 -1.16454581e-03 1.64204477e+02] [ 9.57860154e-01 2.87205358e-01 -4.12411918e-03 9.94936492e+01] [ 4.28482983e-03 6.89873952e-05 9.99990818e-01 6.79374765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81862385300002 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:164.21, Y:99.52, Z:0.68 [[ 2.86594091e-01 -9.58051394e-01 -1.16347367e-03 1.64208283e+02] [ 9.58042518e-01 2.86596445e-01 -4.12442162e-03 9.95180686e+01] [ 4.28485530e-03 6.73776224e-05 9.99990818e-01 6.78677468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84862385300002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:164.21, Y:99.54, Z:0.68 [[ 2.83920420e-01 -9.58847143e-01 -1.16236097e-03 1.64210011e+02] [ 9.58838273e-01 2.83922793e-01 -4.12473519e-03 9.95426980e+01] [ 4.28501132e-03 5.65803634e-05 9.99990818e-01 6.76986825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87862385300002 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:164.21, Y:99.57, Z:0.68 [[ 2.81822389e-01 -9.59465889e-01 -1.16125490e-03 1.64214707e+02] [ 9.59457023e-01 2.81824777e-01 -4.12504656e-03 9.95675977e+01] [ 4.28511187e-03 4.83563109e-05 9.99990818e-01 6.77678535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90862385300002 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:164.22, Y:99.59, Z:0.68 [[ 2.79144322e-01 -9.60248458e-01 -1.16018617e-03 1.64219212e+02] [ 9.60239597e-01 2.79146730e-01 -4.12534712e-03 9.95929895e+01] [ 4.28522039e-03 3.75105298e-05 9.99990818e-01 6.77508009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93862385300002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:164.22, Y:99.62, Z:0.68 [[ 2.76316891e-01 -9.61065883e-01 -1.15912181e-03 1.64223461e+02] [ 9.61057028e-01 2.76319321e-01 -4.12564616e-03 9.96172370e+01] [ 4.28530552e-03 2.60035602e-05 9.99990818e-01 6.78087239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:164.23, Y:99.64, Z:0.68 [[ 2.70659291e-01 -9.62674508e-01 -1.15801275e-03 1.64226120e+02] [ 9.62665666e-01 2.70661768e-01 -4.12595743e-03 9.96433300e+01] [ 4.28538382e-03 1.94959519e-06 9.99990818e-01 6.78829265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99862385300003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:164.23, Y:99.67, Z:0.68 [[ 2.67695947e-01 -9.63502746e-01 -1.15694282e-03 1.64230734e+02] [ 9.63493911e-01 2.67698446e-01 -4.12625743e-03 9.96678120e+01] [ 4.28537216e-03 -1.01249756e-05 9.99990818e-01 6.77482905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02862385300003 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:164.23, Y:99.69, Z:0.68 [[ 2.62117477e-01 -9.65035280e-01 -1.15583437e-03 1.64232927e+02] [ 9.65026458e-01 2.62120023e-01 -4.12656790e-03 9.96912805e+01] [ 4.28525094e-03 -3.37651833e-05 9.99990818e-01 6.76696940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:164.24, Y:99.71, Z:0.68 [[ 2.59038129e-01 -9.65866406e-01 -1.15477194e-03 1.64237775e+02] [ 9.65857591e-01 2.59040698e-01 -4.12686519e-03 9.97141955e+01] [ 4.28513338e-03 -4.63298067e-05 9.99990818e-01 6.76450928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08862385300003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:164.24, Y:99.74, Z:0.68 [[ 2.55771066e-01 -9.66736692e-01 -1.15361217e-03 1.64243250e+02] [ 9.66727884e-01 2.55773660e-01 -4.12718936e-03 9.97377413e+01] [ 4.28496900e-03 -5.96134355e-05 9.99990818e-01 6.76672234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11862385300003 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:164.25, Y:99.76, Z:0.69 [[ 2.49897894e-01 -9.68271509e-01 -1.15250041e-03 1.64246863e+02] [ 9.68262715e-01 2.49900537e-01 -4.12749979e-03 9.97613951e+01] [ 4.28455092e-03 -8.44696691e-05 9.99990818e-01 6.85670844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.148623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:164.25, Y:99.79, Z:0.68 [[ 2.46583287e-01 -9.69120920e-01 -1.15134740e-03 1.64253451e+02] [ 9.69112134e-01 2.46585955e-01 -4.12782139e-03 9.97853327e+01] [ 4.28426416e-03 -9.79329667e-05 9.99990818e-01 6.77430434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.178623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:164.26, Y:99.81, Z:0.68 [[ 2.43962898e-01 -9.69783884e-01 -1.15025278e-03 1.64259780e+02] [ 9.69775104e-01 2.43965585e-01 -4.12812640e-03 9.98089803e+01] [ 4.28401254e-03 -1.08376828e-04 9.99990818e-01 6.77618926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.208623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:164.27, Y:99.83, Z:0.68 [[ 2.39746746e-01 -9.70834784e-01 -1.14916126e-03 1.64266442e+02] [ 9.70826014e-01 2.39749467e-01 -4.12843022e-03 9.98311940e+01] [ 4.28353446e-03 -1.25857929e-04 9.99990818e-01 6.77530665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.238623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:164.27, Y:99.86, Z:0.68 [[ 2.38107239e-01 -9.71238191e-01 -1.14812975e-03 1.64272955e+02] [ 9.71229425e-01 2.38109971e-01 -4.12871707e-03 9.98559217e+01] [ 4.28334884e-03 -1.32019969e-04 9.99990818e-01 6.78937570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.268623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:164.28, Y:99.88, Z:0.68 [[ 2.36953496e-01 -9.71520316e-01 -1.14706123e-03 1.64279734e+02] [ 9.71511552e-01 2.36956233e-01 -4.12901391e-03 9.98799532e+01] [ 4.28322421e-03 -1.35998961e-04 9.99990818e-01 6.77392612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.298623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:164.29, Y:99.90, Z:0.68 [[ 2.36253579e-01 -9.71690760e-01 -1.14614704e-03 1.64286794e+02] [ 9.71681996e-01 2.36256318e-01 -4.12926766e-03 9.99037760e+01] [ 4.28315571e-03 -1.38136179e-04 9.99990818e-01 6.76712508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.328623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:164.29, Y:99.93, Z:0.68 [[ 2.36003425e-01 -9.71751549e-01 -1.14508219e-03 1.64293145e+02] [ 9.71742784e-01 2.36006162e-01 -4.12956293e-03 9.99280989e+01] [ 4.28315563e-03 -1.38134364e-04 9.99990818e-01 6.76820258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.358623853 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:164.30, Y:99.95, Z:0.68 [[ 2.36729739e-01 -9.71574867e-01 -1.14401902e-03 1.64301648e+02] [ 9.71566099e-01 2.36732465e-01 -4.12985744e-03 9.99524868e+01] [ 4.28329214e-03 -1.33830019e-04 9.99990818e-01 6.77822108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.388623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:164.31, Y:99.98, Z:0.68 [[ 2.37769279e-01 -9.71320989e-01 -1.14302053e-03 1.64308356e+02] [ 9.71312217e-01 2.37771992e-01 -4.13013378e-03 9.99760923e+01] [ 4.28346389e-03 -1.28210871e-04 9.99990818e-01 6.76546392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.418623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:164.32, Y:100.00, Z:0.68 [[ 2.39243368e-01 -9.70958962e-01 -1.14192665e-03 1.64315130e+02] [ 9.70950184e-01 2.39246063e-01 -4.13043619e-03 1.00000116e+02] [ 4.28368550e-03 -1.20574425e-04 9.99990818e-01 6.76881532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44862385300002 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:164.32, Y:100.02, Z:0.68 [[ 2.42498354e-01 -9.70151146e-01 -1.14087267e-03 1.64323312e+02] [ 9.70142358e-01 2.42501015e-01 -4.13072730e-03 1.00024173e+02] [ 4.28409260e-03 -1.05114330e-04 9.99990818e-01 6.81300953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47862385300002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:164.33, Y:100.05, Z:0.68 [[ 2.44205015e-01 -9.69722956e-01 -1.13977525e-03 1.64330316e+02] [ 9.69714162e-01 2.44207656e-01 -4.13103008e-03 1.00047684e+02] [ 4.28429654e-03 -9.64379358e-05 9.99990818e-01 6.81161147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50862385300002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:164.34, Y:100.07, Z:0.68 [[ 2.45931840e-01 -9.69286456e-01 -1.13863499e-03 1.64337039e+02] [ 9.69277656e-01 2.45934460e-01 -4.13134435e-03 1.00072149e+02] [ 4.28448570e-03 -8.76243397e-05 9.99990818e-01 6.81894316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53862385300002 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:164.34, Y:100.10, Z:0.69 [[ 2.50680004e-01 -9.68069337e-01 -1.13757479e-03 1.64343088e+02] [ 9.68060523e-01 2.50682576e-01 -4.13163625e-03 1.00095365e+02] [ 4.28488055e-03 -6.55226528e-05 9.99990818e-01 6.91523140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:164.35, Y:100.12, Z:0.68 [[ 2.52739201e-01 -9.67533775e-01 -1.13647004e-03 1.64350630e+02] [ 9.67524953e-01 2.52741750e-01 -4.13194011e-03 1.00119103e+02] [ 4.28502504e-03 -5.52598834e-05 9.99990818e-01 6.80410195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59862385300002 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:164.36, Y:100.14, Z:0.68 [[ 2.54962208e-01 -9.66950352e-01 -1.13537107e-03 1.64356932e+02] [ 9.66941524e-01 2.54964732e-01 -4.13224206e-03 1.00141598e+02] [ 4.28515250e-03 -4.42718716e-05 9.99990818e-01 6.80058474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62862385300002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:164.36, Y:100.17, Z:0.68 [[ 2.57519318e-01 -9.66272485e-01 -1.13421696e-03 1.64363659e+02] [ 9.66263648e-01 2.57521814e-01 -4.13255882e-03 1.00166613e+02] [ 4.28526349e-03 -3.17388877e-05 9.99990818e-01 6.81133012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65862385300002 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:164.37, Y:100.19, Z:0.68 [[ 2.62568093e-01 -9.64912800e-01 -1.13315772e-03 1.64370311e+02] [ 9.64903950e-01 2.62570539e-01 -4.13284924e-03 1.00190869e+02] [ 4.28537297e-03 -8.23401241e-06 9.99990818e-01 6.82160627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68862385300002 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:164.38, Y:100.21, Z:0.68 [[ 2.64603349e-01 -9.64356670e-01 -1.13207767e-03 1.64376680e+02] [ 9.64347812e-01 2.64605771e-01 -4.13314507e-03 1.00214662e+02] [ 4.28538030e-03 1.92740099e-06 9.99990818e-01 6.82119168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71862385300003 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:164.38, Y:100.24, Z:0.68 [[ 2.66252199e-01 -9.63902738e-01 -1.13095174e-03 1.64383164e+02] [ 9.63893875e-01 2.66254601e-01 -4.13345314e-03 1.00239681e+02] [ 4.28536790e-03 1.04235293e-05 9.99990818e-01 6.84089244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74862385300003 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:164.39, Y:100.26, Z:0.68 [[ 2.68417195e-01 -9.63302098e-01 -1.12984212e-03 1.64388243e+02] [ 9.63293229e-01 2.68419572e-01 -4.13375642e-03 1.00263664e+02] [ 4.28532797e-03 2.12020436e-05 9.99990818e-01 6.84672225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77862385300003 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:164.39, Y:100.29, Z:0.69 [[ 2.68817271e-01 -9.63190532e-01 -1.12868758e-03 1.64394566e+02] [ 9.63181660e-01 2.68819639e-01 -4.13407163e-03 1.00288633e+02] [ 4.28531204e-03 2.41786739e-05 9.99990818e-01 6.90041600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80862385300003 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:164.40, Y:100.31, Z:0.68 [[ 2.67269113e-01 -9.63621269e-01 -1.12758645e-03 1.64403101e+02] [ 9.63612400e-01 2.67271491e-01 -4.13437195e-03 1.00312327e+02] [ 4.28534045e-03 1.84336391e-05 9.99990818e-01 6.84926508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83862385300003 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:164.41, Y:100.34, Z:0.68 [[ 2.66111619e-01 -9.63941563e-01 -1.12648581e-03 1.64410110e+02] [ 9.63932696e-01 2.66114003e-01 -4.13467182e-03 1.00336359e+02] [ 4.28535566e-03 1.44277085e-05 9.99990818e-01 6.84524767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86862385300003 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:164.42, Y:100.36, Z:0.68 [[ 2.64952498e-01 -9.64260809e-01 -1.12539239e-03 1.64416754e+02] [ 9.64251943e-01 2.64954888e-01 -4.13496941e-03 1.00359789e+02] [ 4.28536716e-03 1.04086756e-05 9.99990818e-01 6.84294082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.898623853 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:164.42, Y:100.38, Z:0.68 [[ 2.62855017e-01 -9.64834688e-01 -1.12445761e-03 1.64423499e+02] [ 9.64825827e-01 2.62857422e-01 -4.13522359e-03 1.00383519e+02] [ 4.28537920e-03 2.05852563e-06 9.99990818e-01 6.83590625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.928623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:164.43, Y:100.41, Z:0.68 [[ 2.61901564e-01 -9.65093938e-01 -1.12333315e-03 1.64430232e+02] [ 9.65085077e-01 2.61903973e-01 -4.13552903e-03 1.00408300e+02] [ 4.28537941e-03 -1.01053700e-06 9.99990818e-01 6.83898923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.958623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:164.44, Y:100.43, Z:0.68 [[ 2.61056596e-01 -9.65322845e-01 -1.12227072e-03 1.64437184e+02] [ 9.65313985e-01 2.61059008e-01 -4.13581733e-03 1.00432561e+02] [ 4.28537783e-03 -3.66123191e-06 9.99990818e-01 6.84175369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.988623853 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:164.44, Y:100.46, Z:0.68 [[ 2.60216992e-01 -9.65549512e-01 -1.12118935e-03 1.64444283e+02] [ 9.65540653e-01 2.60219407e-01 -4.13611046e-03 1.00456178e+02] [ 4.28537466e-03 -6.26767227e-06 9.99990818e-01 6.82072253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.018623853 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:164.45, Y:100.48, Z:0.69 [[ 2.59031867e-01 -9.65868126e-01 -1.12026578e-03 1.64453418e+02] [ 9.65859269e-01 2.59034289e-01 -4.13636059e-03 1.00480242e+02] [ 4.28536610e-03 -1.05698870e-05 9.99990818e-01 6.92875855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.048623853 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:164.46, Y:100.50, Z:0.68 [[ 2.57587204e-01 -9.66254407e-01 -1.11914749e-03 1.64461054e+02] [ 9.66245553e-01 2.57589635e-01 -4.13666314e-03 1.00503678e+02] [ 4.28534978e-03 -1.58197963e-05 9.99990818e-01 6.82607159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.078623853 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:164.47, Y:100.53, Z:0.68 [[ 2.56794881e-01 -9.66465281e-01 -1.11798084e-03 1.64467239e+02] [ 9.66456427e-01 2.56797314e-01 -4.13697841e-03 1.00527983e+02] [ 4.28534048e-03 -1.81248944e-05 9.99990818e-01 6.83270283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.108623853 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:164.47, Y:100.55, Z:0.68 [[ 2.56132021e-01 -9.66641164e-01 -1.11690091e-03 1.64473117e+02] [ 9.66632310e-01 2.56134456e-01 -4.13726995e-03 1.00552095e+02] [ 4.28533225e-03 -1.99451940e-05 9.99990818e-01 6.82781848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.138623853 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:164.48, Y:100.58, Z:0.68 [[ 2.54847932e-01 -9.66980500e-01 -1.11577950e-03 1.64480278e+02] [ 9.66971648e-01 2.54850374e-01 -4.13757236e-03 1.00576741e+02] [ 4.28530861e-03 -2.44753802e-05 9.99990818e-01 6.82265937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.168623853 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:164.49, Y:100.60, Z:0.68 [[ 2.54106190e-01 -9.67175683e-01 -1.11472127e-03 1.64488215e+02] [ 9.67166832e-01 2.54108634e-01 -4.13785745e-03 1.00599142e+02] [ 4.28529540e-03 -2.66662464e-05 9.99990818e-01 6.81310216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19862385300002 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:164.50, Y:100.62, Z:0.68 [[ 2.52538170e-01 -9.67586292e-01 -1.11352108e-03 1.64498220e+02] [ 9.67577443e-01 2.52540623e-01 -4.13818040e-03 1.00623335e+02] [ 4.28525593e-03 -3.23693707e-05 9.99990818e-01 6.81986670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22862385300002 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:164.50, Y:100.65, Z:0.68 [[ 2.51697303e-01 -9.67805368e-01 -1.11245267e-03 1.64504977e+02] [ 9.67796520e-01 2.51699759e-01 -4.13846760e-03 1.00646084e+02] [ 4.28523522e-03 -3.49866845e-05 9.99990818e-01 6.81852327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25862385300002 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:164.51, Y:100.67, Z:0.68 [[ 2.50989182e-01 -9.67989254e-01 -1.11136067e-03 1.64513116e+02] [ 9.67980407e-01 2.50991640e-01 -4.13876082e-03 1.00670034e+02] [ 4.28521824e-03 -3.69911598e-05 9.99990818e-01 6.82471784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28862385300002 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:164.52, Y:100.69, Z:0.68 [[ 2.50756593e-01 -9.68049533e-01 -1.11030287e-03 1.64520841e+02] [ 9.68040685e-01 2.50759048e-01 -4.13904458e-03 1.00694842e+02] [ 4.28521866e-03 -3.69256348e-05 9.99990818e-01 6.82840530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31862385300002 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:164.53, Y:100.72, Z:0.68 [[ 2.50680021e-01 -9.68069366e-01 -1.10922022e-03 1.64528255e+02] [ 9.68060517e-01 2.50682473e-01 -4.13933470e-03 1.00718570e+02] [ 4.28522518e-03 -3.61437927e-05 9.99990818e-01 6.82951819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34862385300002 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:164.54, Y:100.74, Z:0.68 [[ 2.50807772e-01 -9.68036277e-01 -1.10809544e-03 1.64536152e+02] [ 9.68027427e-01 2.50810217e-01 -4.13963578e-03 1.00743286e+02] [ 4.28523927e-03 -3.44139501e-05 9.99990818e-01 6.83704599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:164.55, Y:100.77, Z:0.68 [[ 2.51398423e-01 -9.67883055e-01 -1.10702142e-03 1.64545249e+02] [ 9.67874201e-01 2.51400858e-01 -4.13992297e-03 1.00766286e+02] [ 4.28526743e-03 -3.06873633e-05 9.99990818e-01 6.84925430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40862385300002 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:164.55, Y:100.79, Z:0.68 [[ 2.51374198e-01 -9.67889348e-01 -1.10608438e-03 1.64552696e+02] [ 9.67880493e-01 2.51376630e-01 -4.14017331e-03 1.00790319e+02] [ 4.28527341e-03 -2.98247482e-05 9.99990818e-01 6.84753613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43862385300002 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:164.56, Y:100.81, Z:0.68 [[ 2.51728000e-01 -9.67797393e-01 -1.10492917e-03 1.64561752e+02] [ 9.67788536e-01 2.51730423e-01 -4.14048159e-03 1.00812201e+02] [ 4.28529158e-03 -2.70626389e-05 9.99990818e-01 6.83531582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46862385300003 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:164.57, Y:100.83, Z:0.68 [[ 2.51911513e-01 -9.67749643e-01 -1.10373563e-03 1.64569298e+02] [ 9.67740784e-01 2.51913930e-01 -4.14079973e-03 1.00834585e+02] [ 4.28530384e-03 -2.50148568e-05 9.99990818e-01 6.81272771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49862385300003 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:164.58, Y:100.86, Z:0.68 [[ 2.52254254e-01 -9.67660362e-01 -1.10254722e-03 1.64576898e+02] [ 9.67651501e-01 2.52256663e-01 -4.14111614e-03 1.00857971e+02] [ 4.28531882e-03 -2.22673145e-05 9.99990818e-01 6.83950165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52862385300003 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:164.59, Y:100.88, Z:0.69 [[ 2.53673816e-01 -9.67289193e-01 -1.10140650e-03 1.64585970e+02] [ 9.67280327e-01 2.53676207e-01 -4.14141951e-03 1.00879975e+02] [ 4.28535096e-03 -1.47991452e-05 9.99990818e-01 6.85049943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55862385300003 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:164.59, Y:100.90, Z:0.69 [[ 2.54213154e-01 -9.67147590e-01 -1.10033468e-03 1.64592717e+02] [ 9.67138722e-01 2.54215535e-01 -4.14170426e-03 1.00903331e+02] [ 4.28536147e-03 -1.13005697e-05 9.99990818e-01 6.85432993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58862385300003 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:164.60, Y:100.93, Z:0.69 [[ 2.56333721e-01 -9.66587717e-01 -1.09920119e-03 1.64600792e+02] [ 9.66578843e-01 2.56336078e-01 -4.14200507e-03 1.00925954e+02] [ 4.28537615e-03 -7.29045710e-07 9.99990818e-01 6.85291113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61862385300003 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:164.61, Y:100.95, Z:0.69 [[ 2.57405004e-01 -9.66302985e-01 -1.09802811e-03 1.64608128e+02] [ 9.66294106e-01 2.57407346e-01 -4.14231602e-03 1.00949380e+02] [ 4.28537284e-03 5.23477993e-06 9.99990818e-01 6.85308286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.648623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:164.62, Y:100.97, Z:0.69 [[ 2.58795791e-01 -9.65931434e-01 -1.09690983e-03 1.64615042e+02] [ 9.65922551e-01 2.58798116e-01 -4.14261213e-03 1.00973499e+02] [ 4.28535747e-03 1.25606442e-05 9.99990818e-01 6.85213880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.678623853 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:164.62, Y:101.00, Z:0.68 [[ 2.60167540e-01 -9.65562867e-01 -1.09579317e-03 1.64621259e+02] [ 9.65553979e-01 2.60169847e-01 -4.14290748e-03 1.00996728e+02] [ 4.28532997e-03 1.98025948e-05 9.99990818e-01 6.84542242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.708623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:164.63, Y:101.02, Z:0.68 [[ 2.62856989e-01 -9.64834185e-01 -1.09474215e-03 1.64628054e+02] [ 9.64825290e-01 2.62859266e-01 -4.14318519e-03 1.01019300e+02] [ 4.28524983e-03 3.28302741e-05 9.99990818e-01 6.83937222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.738623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:164.63, Y:101.04, Z:0.68 [[ 2.63698667e-01 -9.64604487e-01 -1.09359261e-03 1.64634636e+02] [ 9.64595589e-01 2.63700932e-01 -4.14348859e-03 1.01043373e+02] [ 4.28520908e-03 3.77578106e-05 9.99990818e-01 6.84229952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.768623853 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:164.64, Y:101.07, Z:0.68 [[ 2.64269730e-01 -9.64448193e-01 -1.09247454e-03 1.64640782e+02] [ 9.64439291e-01 2.64271985e-01 -4.14378336e-03 1.01066424e+02] [ 4.28517479e-03 4.14511409e-05 9.99990818e-01 6.84120632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.798623853 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:164.65, Y:101.09, Z:0.69 [[ 2.65020210e-01 -9.64242240e-01 -1.09131775e-03 1.64647042e+02] [ 9.64233336e-01 2.65022453e-01 -4.14408799e-03 1.01090319e+02] [ 4.28512840e-03 4.59821181e-05 9.99990818e-01 6.88777249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.828623853 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:164.65, Y:101.11, Z:0.68 [[ 2.66033036e-01 -9.63963296e-01 -1.09022872e-03 1.64653890e+02] [ 9.63954388e-01 2.66035265e-01 -4.14437448e-03 1.01113516e+02] [ 4.28506417e-03 5.16097598e-05 9.99990818e-01 6.82516143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.858623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:164.66, Y:101.14, Z:0.68 [[ 2.66253640e-01 -9.63902388e-01 -1.08909803e-03 1.64659893e+02] [ 9.63893478e-01 2.66255862e-01 -4.14467159e-03 1.01136208e+02] [ 4.28503758e-03 5.37594085e-05 9.99990818e-01 6.81753807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.888623853 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:164.67, Y:101.16, Z:0.69 [[ 2.67576275e-01 -9.63536068e-01 -1.08797310e-03 1.64665682e+02] [ 9.63527154e-01 2.67578480e-01 -4.14496686e-03 1.01159803e+02] [ 4.28494326e-03 6.08031697e-05 9.99990818e-01 6.88951043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.918623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:164.67, Y:101.18, Z:0.68 [[ 2.67569740e-01 -9.63537884e-01 -1.08681173e-03 1.64670949e+02] [ 9.63528969e-01 2.67571940e-01 -4.14527135e-03 1.01182502e+02] [ 4.28492631e-03 6.19745875e-05 9.99990818e-01 6.83646912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94862385300002 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:164.68, Y:101.21, Z:0.68 [[ 2.67780352e-01 -9.63479374e-01 -1.08561258e-03 1.64676160e+02] [ 9.63470458e-01 2.67782545e-01 -4.14558537e-03 1.01205164e+02] [ 4.28489410e-03 6.41506573e-05 9.99990818e-01 6.83618855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97862385300002 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:164.68, Y:101.23, Z:0.68 [[ 2.68003191e-01 -9.63417414e-01 -1.08449020e-03 1.64682356e+02] [ 9.63408496e-01 2.68005377e-01 -4.14587897e-03 1.01228691e+02] [ 4.28486120e-03 6.63017256e-05 9.99990818e-01 6.84142321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00862385300002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:164.69, Y:101.25, Z:0.69 [[ 2.67719694e-01 -9.63496233e-01 -1.08342448e-03 1.64688544e+02] [ 9.63487315e-01 2.67721878e-01 -4.14615745e-03 1.01253000e+02] [ 4.28486352e-03 6.61422550e-05 9.99990818e-01 6.85211310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03862385300002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:164.69, Y:101.28, Z:0.69 [[ 2.67282285e-01 -9.63617667e-01 -1.08231164e-03 1.64694111e+02] [ 9.63608748e-01 2.67284468e-01 -4.14644792e-03 1.01277620e+02] [ 4.28487557e-03 6.53471062e-05 9.99990818e-01 6.87065300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06862385300002 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:164.70, Y:101.30, Z:0.69 [[ 2.66533466e-01 -9.63825058e-01 -1.08122069e-03 1.64698263e+02] [ 9.63816140e-01 2.66535652e-01 -4.14673238e-03 1.01302208e+02] [ 4.28490844e-03 6.31450067e-05 9.99990818e-01 6.87543520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09862385300002 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:164.70, Y:101.33, Z:0.69 [[ 2.65785280e-01 -9.64031648e-01 -1.08008467e-03 1.64703996e+02] [ 9.64022730e-01 2.65787467e-01 -4.14702826e-03 1.01326344e+02] [ 4.28493945e-03 6.09928968e-05 9.99990818e-01 6.87224018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12862385300002 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:164.71, Y:101.35, Z:0.69 [[ 2.65121526e-01 -9.64214402e-01 -1.07895779e-03 1.64710238e+02] [ 9.64205484e-01 2.65123715e-01 -4.14732142e-03 1.01349893e+02] [ 4.28496434e-03 5.92071650e-05 9.99990818e-01 6.85312033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15862385300002 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:164.72, Y:101.37, Z:0.68 [[ 2.64379433e-01 -9.64418143e-01 -1.07783892e-03 1.64715691e+02] [ 9.64409226e-01 2.64381624e-01 -4.14761218e-03 1.01372625e+02] [ 4.28499324e-03 5.70655626e-05 9.99990818e-01 6.84735116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18862385300002 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:164.72, Y:101.40, Z:0.69 [[ 2.63525091e-01 -9.64651941e-01 -1.07668370e-03 1.64721442e+02] [ 9.64643025e-01 2.63527284e-01 -4.14791204e-03 1.01397400e+02] [ 4.28502694e-03 5.44634751e-05 9.99990818e-01 6.85902884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21862385300003 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:164.73, Y:101.42, Z:0.69 [[ 2.63276789e-01 -9.64719739e-01 -1.07561503e-03 1.64727646e+02] [ 9.64710822e-01 2.63278981e-01 -4.14818915e-03 1.01422635e+02] [ 4.28502678e-03 5.44644599e-05 9.99990818e-01 6.86014209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24862385300003 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:164.73, Y:101.45, Z:0.69 [[ 2.62108680e-01 -9.65037764e-01 -1.07454724e-03 1.64731713e+02] [ 9.65028848e-01 2.62110878e-01 -4.14846573e-03 1.01446295e+02] [ 4.28507661e-03 5.03797895e-05 9.99990818e-01 6.86737009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27862385300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:164.74, Y:101.47, Z:0.69 [[ 2.61435267e-01 -9.65220415e-01 -1.07333994e-03 1.64736515e+02] [ 9.65211500e-01 2.61437465e-01 -4.14877807e-03 1.01470143e+02] [ 4.28509657e-03 4.86368487e-05 9.99990818e-01 6.86817218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30862385300003 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:164.74, Y:101.50, Z:0.69 [[ 2.60777735e-01 -9.65398272e-01 -1.07218107e-03 1.64740420e+02] [ 9.65389357e-01 2.60779935e-01 -4.14907754e-03 1.01495862e+02] [ 4.28511560e-03 4.69148464e-05 9.99990818e-01 6.87837178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33862385300003 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:164.74, Y:101.52, Z:0.70 [[ 2.60834953e-01 -9.65382815e-01 -1.07109952e-03 1.64744300e+02] [ 9.65373899e-01 2.60837148e-01 -4.14935673e-03 1.01519618e+02] [ 4.28510022e-03 4.82857444e-05 9.99990818e-01 6.96587322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36862385300003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:164.75, Y:101.54, Z:0.69 [[ 2.60520747e-01 -9.65467656e-01 -1.06997910e-03 1.64748238e+02] [ 9.65458740e-01 2.60522940e-01 -4.14964563e-03 1.01542607e+02] [ 4.28510274e-03 4.80481115e-05 9.99990818e-01 6.88378746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.398623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:164.75, Y:101.57, Z:0.69 [[ 2.61069830e-01 -9.65319326e-01 -1.06876797e-03 1.64750310e+02] [ 9.65310407e-01 2.61072012e-01 -4.14995754e-03 1.01567036e+02] [ 4.28505962e-03 5.17358592e-05 9.99990818e-01 6.89414464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.428623853 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:164.75, Y:101.59, Z:0.69 [[ 2.61099547e-01 -9.65311290e-01 -1.06761335e-03 1.64753711e+02] [ 9.65302370e-01 2.61101725e-01 -4.15025455e-03 1.01590886e+02] [ 4.28504326e-03 5.30598908e-05 9.99990818e-01 6.87995387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.458623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:164.76, Y:101.62, Z:0.69 [[ 2.60751159e-01 -9.65405457e-01 -1.06641406e-03 1.64755440e+02] [ 9.65396536e-01 2.60753334e-01 -4.15056269e-03 1.01616124e+02] [ 4.28504689e-03 5.27515914e-05 9.99990818e-01 6.86846096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.488623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:164.76, Y:101.64, Z:0.69 [[ 2.60084652e-01 -9.65585231e-01 -1.06529355e-03 1.64759177e+02] [ 9.65576311e-01 2.60086829e-01 -4.15085026e-03 1.01640347e+02] [ 4.28506853e-03 5.09502260e-05 9.99990818e-01 6.86294544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.518623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:164.76, Y:101.67, Z:0.69 [[ 2.59272346e-01 -9.65803664e-01 -1.06414635e-03 1.64763043e+02] [ 9.65794745e-01 2.59274525e-01 -4.15114435e-03 1.01666098e+02] [ 4.28509646e-03 4.85299803e-05 9.99990818e-01 6.86464195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.548623853 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:164.77, Y:101.69, Z:0.69 [[ 2.58274761e-01 -9.66070917e-01 -1.06307321e-03 1.64766592e+02] [ 9.66061999e-01 2.58276945e-01 -4.15141915e-03 1.01691208e+02] [ 4.28513261e-03 4.52121559e-05 9.99990818e-01 6.87292547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.578623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:164.77, Y:101.72, Z:0.69 [[ 2.55872891e-01 -9.66709851e-01 -1.06196600e-03 1.64768635e+02] [ 9.66700936e-01 2.55875093e-01 -4.15170237e-03 1.01715936e+02] [ 4.28522222e-03 3.57045653e-05 9.99990818e-01 6.86909055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.608623853 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:164.77, Y:101.74, Z:0.69 [[ 2.54301534e-01 -9.67124400e-01 -1.06081711e-03 1.64772269e+02] [ 9.67115488e-01 2.54303745e-01 -4.15199590e-03 1.01739427e+02] [ 4.28526631e-03 2.99262670e-05 9.99990818e-01 6.88250495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.638623853 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:164.77, Y:101.76, Z:0.69 [[ 2.50812277e-01 -9.68035164e-01 -1.05965252e-03 1.64774446e+02] [ 9.68026259e-01 2.50814515e-01 -4.15229310e-03 1.01764819e+02] [ 4.28534197e-03 1.56746197e-05 9.99990818e-01 6.91309689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.668623853 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:164.78, Y:101.79, Z:0.69 [[ 2.48913023e-01 -9.68525264e-01 -1.05856422e-03 1.64778613e+02] [ 9.68516362e-01 2.48915273e-01 -4.15257053e-03 1.01788782e+02] [ 4.28536227e-03 8.39211212e-06 9.99990818e-01 6.90296212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69862385300002 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:164.78, Y:101.81, Z:0.69 [[ 2.46823749e-01 -9.69059812e-01 -1.05743584e-03 1.64782868e+02] [ 9.69050913e-01 2.46826014e-01 -4.15285785e-03 1.01813955e+02] [ 4.28537032e-03 3.14771132e-07 9.99990818e-01 6.90584449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72862385300002 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:164.79, Y:101.84, Z:0.69 [[ 2.43238374e-01 -9.69965967e-01 -1.05636075e-03 1.64785580e+02] [ 9.69957076e-01 2.43240667e-01 -4.15313130e-03 1.01838926e+02] [ 4.28534591e-03 -1.44236854e-05 9.99990818e-01 6.89141851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75862385300002 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:164.79, Y:101.86, Z:0.69 [[ 2.41776789e-01 -9.70331320e-01 -1.05524031e-03 1.64789899e+02] [ 9.70322431e-01 2.41779091e-01 -4.15341596e-03 1.01864375e+02] [ 4.28532464e-03 -1.97237704e-05 9.99990818e-01 6.87879319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78862385300002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:164.79, Y:101.89, Z:0.69 [[ 2.40413778e-01 -9.70669925e-01 -1.05417918e-03 1.64794575e+02] [ 9.70661038e-01 2.40416088e-01 -4.15368527e-03 1.01889267e+02] [ 4.28529901e-03 -2.46474914e-05 9.99990818e-01 6.87919220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81862385300002 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:164.80, Y:101.91, Z:0.69 [[ 2.39326560e-01 -9.70938561e-01 -1.05309327e-03 1.64799450e+02] [ 9.70929675e-01 2.39328875e-01 -4.15396057e-03 1.01913934e+02] [ 4.28527612e-03 -2.83264133e-05 9.99990818e-01 6.87772753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84862385300002 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:164.80, Y:101.94, Z:0.70 [[ 2.38083259e-01 -9.71244179e-01 -1.05198273e-03 1.64802909e+02] [ 9.71235295e-01 2.38085581e-01 -4.15424179e-03 1.01938720e+02] [ 4.28524508e-03 -3.26673374e-05 9.99990818e-01 6.96286110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87862385300002 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:164.81, Y:101.96, Z:0.69 [[ 2.37026986e-01 -9.71502498e-01 -1.05082547e-03 1.64807174e+02] [ 9.71493615e-01 2.37029313e-01 -4.15453450e-03 1.01963507e+02] [ 4.28521709e-03 -3.61334403e-05 9.99990818e-01 6.88086530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:164.81, Y:101.99, Z:0.69 [[ 2.35981170e-01 -9.71757061e-01 -1.04974994e-03 1.64809963e+02] [ 9.71748180e-01 2.35983502e-01 -4.15480624e-03 1.01988473e+02] [ 4.28518597e-03 -3.96365586e-05 9.99990818e-01 6.89101512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93862385300002 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:164.81, Y:102.01, Z:0.69 [[ 2.35243313e-01 -9.71935946e-01 -1.04881009e-03 1.64814573e+02] [ 9.71927066e-01 2.35245648e-01 -4.15504348e-03 1.02013164e+02] [ 4.28516412e-03 -4.19207210e-05 9.99990818e-01 6.90377637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96862385300003 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:164.82, Y:102.04, Z:0.69 [[ 2.34011817e-01 -9.72233188e-01 -1.04773746e-03 1.64817895e+02] [ 9.72224309e-01 2.34014158e-01 -4.15531394e-03 1.02037744e+02] [ 4.28511952e-03 -4.62432622e-05 9.99990818e-01 6.91413374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99862385300003 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:164.82, Y:102.06, Z:0.70 [[ 2.33330509e-01 -9.72396924e-01 -1.04661665e-03 1.64822401e+02] [ 9.72388046e-01 2.33332851e-01 -4.15559622e-03 1.02062335e+02] [ 4.28509903e-03 -4.80901384e-05 9.99990818e-01 7.01614387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02862385300003 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:164.83, Y:102.09, Z:0.69 [[ 2.32288646e-01 -9.72646334e-01 -1.04554579e-03 1.64827594e+02] [ 9.72637457e-01 2.32290993e-01 -4.15586563e-03 1.02087326e+02] [ 4.28505834e-03 -5.15766013e-05 9.99990818e-01 6.93159894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05862385300003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:164.83, Y:102.11, Z:0.69 [[ 2.31460949e-01 -9.72843635e-01 -1.04446714e-03 1.64832670e+02] [ 9.72834759e-01 2.31463300e-01 -4.15613670e-03 1.02111754e+02] [ 4.28502695e-03 -5.41105946e-05 9.99990818e-01 6.93453906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08862385300003 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:164.84, Y:102.14, Z:0.69 [[ 2.30130041e-01 -9.73159327e-01 -1.04335012e-03 1.64836837e+02] [ 9.73150453e-01 2.30132399e-01 -4.15641710e-03 1.02136524e+02] [ 4.28496473e-03 -5.88202017e-05 9.99990818e-01 6.92830117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11862385300003 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:164.84, Y:102.16, Z:0.69 [[ 2.29401295e-01 -9.73331372e-01 -1.04228275e-03 1.64841703e+02] [ 9.73322498e-01 2.29403654e-01 -4.15668474e-03 1.02160552e+02] [ 4.28493513e-03 -6.09283836e-05 9.99990818e-01 6.91379432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.148623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:164.85, Y:102.18, Z:0.69 [[ 2.28601950e-01 -9.73519422e-01 -1.04135993e-03 1.64846923e+02] [ 9.73510549e-01 2.28604313e-01 -4.15691592e-03 1.02184769e+02] [ 4.28489775e-03 -6.34957958e-05 9.99990818e-01 6.90895949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.178623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:164.85, Y:102.21, Z:0.69 [[ 2.27201223e-01 -9.73847279e-01 -1.04023750e-03 1.64851380e+02] [ 9.73838408e-01 2.27203594e-01 -4.15719678e-03 1.02208166e+02] [ 4.28482047e-03 -6.85030361e-05 9.99990818e-01 6.89463408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.208623853 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:164.86, Y:102.23, Z:0.69 [[ 2.26316241e-01 -9.74053325e-01 -1.03907199e-03 1.64856552e+02] [ 9.74044455e-01 2.26318615e-01 -4.15748807e-03 1.02232551e+02] [ 4.28477641e-03 -7.11952429e-05 9.99990818e-01 6.90435492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.238623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:164.86, Y:102.26, Z:0.69 [[ 2.25385213e-01 -9.74269177e-01 -1.03796160e-03 1.64862049e+02] [ 9.74260308e-01 2.25387590e-01 -4.15776528e-03 1.02256182e+02] [ 4.28472622e-03 -7.41459728e-05 9.99990818e-01 6.91643667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.268623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:164.87, Y:102.28, Z:0.69 [[ 2.23266221e-01 -9.74756954e-01 -1.03682691e-03 1.64868587e+02] [ 9.74748089e-01 2.23268613e-01 -4.15804822e-03 1.02280946e+02] [ 4.28457732e-03 -8.22933375e-05 9.99990818e-01 6.93050283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.298623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:164.87, Y:102.30, Z:0.69 [[ 2.22149698e-01 -9.75012020e-01 -1.03577743e-03 1.64874420e+02] [ 9.75003156e-01 2.22152096e-01 -4.15830963e-03 1.02304194e+02] [ 4.28450200e-03 -8.61190358e-05 9.99990818e-01 6.93631127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.328623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:164.88, Y:102.33, Z:0.69 [[ 2.20975136e-01 -9.75278893e-01 -1.03459199e-03 1.64880074e+02] [ 9.75270031e-01 2.20977540e-01 -4.15860454e-03 1.02327924e+02] [ 4.28442083e-03 -9.00583609e-05 9.99990818e-01 6.93907138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.358623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:164.89, Y:102.35, Z:0.69 [[ 2.19188044e-01 -9.75682086e-01 -1.03347741e-03 1.64886749e+02] [ 9.75673227e-01 2.19190459e-01 -4.15888152e-03 1.02351790e+02] [ 4.28427458e-03 -9.67591394e-05 9.99990818e-01 6.93084589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.388623853 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:164.89, Y:102.38, Z:0.69 [[ 2.18136879e-01 -9.75917638e-01 -1.03241423e-03 1.64893971e+02] [ 9.75908780e-01 2.18139299e-01 -4.15914543e-03 1.02376740e+02] [ 4.28419350e-03 -1.00279111e-04 9.99990818e-01 6.93016335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.418623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:164.90, Y:102.40, Z:0.70 [[ 2.17598209e-01 -9.76037887e-01 -1.03134744e-03 1.64900509e+02] [ 9.76029029e-01 2.17600629e-01 -4.15940994e-03 1.02400030e+02] [ 4.28416354e-03 -1.01544888e-04 9.99990818e-01 6.98012189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:164.91, Y:102.42, Z:0.69 [[ 2.16883713e-01 -9.76196903e-01 -1.03024431e-03 1.64908007e+02] [ 9.76188046e-01 2.16886136e-01 -4.15968316e-03 1.02423721e+02] [ 4.28411553e-03 -1.03544649e-04 9.99990818e-01 6.94811859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:164.91, Y:102.45, Z:0.69 [[ 2.16693594e-01 -9.76239124e-01 -1.02910546e-03 1.64914773e+02] [ 9.76230266e-01 2.16696013e-01 -4.15996489e-03 1.02446339e+02] [ 4.28412353e-03 -1.03206159e-04 9.99990818e-01 6.94138877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:164.92, Y:102.47, Z:0.69 [[ 2.16464659e-01 -9.76289913e-01 -1.02792911e-03 1.64921787e+02] [ 9.76281055e-01 2.16467075e-01 -4.16025555e-03 1.02470142e+02] [ 4.28412834e-03 -1.02999415e-04 9.99990818e-01 6.94767502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:164.93, Y:102.49, Z:0.70 [[ 2.16401929e-01 -9.76303821e-01 -1.02679603e-03 1.64929278e+02] [ 9.76294961e-01 2.16404341e-01 -4.16053519e-03 1.02492495e+02] [ 4.28414952e-03 -1.02107949e-04 9.99990818e-01 6.95120808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:164.94, Y:102.52, Z:0.69 [[ 2.16443565e-01 -9.76294592e-01 -1.02573069e-03 1.64936413e+02] [ 9.76285731e-01 2.16445972e-01 -4.16079782e-03 1.02516557e+02] [ 4.28417968e-03 -1.00828318e-04 9.99990818e-01 6.94789170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:164.94, Y:102.54, Z:0.69 [[ 2.16378541e-01 -9.76309007e-01 -1.02460645e-03 1.64944289e+02] [ 9.76300145e-01 2.16380944e-01 -4.16107464e-03 1.02541212e+02] [ 4.28419997e-03 -9.99561657e-05 9.99990818e-01 6.94597082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:164.95, Y:102.56, Z:0.69 [[ 2.16439783e-01 -9.76295433e-01 -1.02354296e-03 1.64952271e+02] [ 9.76286570e-01 2.16442180e-01 -4.16133623e-03 1.02564051e+02] [ 4.28423142e-03 -9.85925334e-05 9.99990818e-01 6.94241993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:164.96, Y:102.59, Z:0.69 [[ 2.17149624e-01 -9.76137795e-01 -1.02243639e-03 1.64962169e+02] [ 9.76128929e-01 2.17152011e-01 -4.16160809e-03 1.02585931e+02] [ 4.28432706e-03 -9.43381056e-05 9.99990818e-01 6.93408425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:164.97, Y:102.61, Z:0.69 [[ 2.17407444e-01 -9.76080407e-01 -1.02124875e-03 1.64969361e+02] [ 9.76071538e-01 2.17409823e-01 -4.16189952e-03 1.02609999e+02] [ 4.28437808e-03 -9.19838989e-05 9.99990818e-01 6.94710960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71862385300003 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:164.98, Y:102.63, Z:0.69 [[ 2.20007344e-01 -9.75497682e-01 -1.02010130e-03 1.64977544e+02] [ 9.75488806e-01 2.20009695e-01 -4.16218074e-03 1.02632551e+02] [ 4.28462984e-03 -7.93870633e-05 9.99990818e-01 6.92581986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:164.98, Y:102.66, Z:0.69 [[ 2.21709935e-01 -9.75112130e-01 -1.01891245e-03 1.64984136e+02] [ 9.75103249e-01 2.21712265e-01 -4.16247175e-03 1.02655248e+02] [ 4.28478209e-03 -7.06834998e-05 9.99990818e-01 6.92422303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:164.99, Y:102.68, Z:0.69 [[ 2.23659956e-01 -9.74666706e-01 -1.01780744e-03 1.64991292e+02] [ 9.74657819e-01 2.23662263e-01 -4.16274193e-03 1.02678227e+02] [ 4.28493109e-03 -6.09753039e-05 9.99990818e-01 6.91858269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.00, Y:102.70, Z:0.69 [[ 2.28309378e-01 -9.73588103e-01 -1.01670504e-03 1.65000036e+02] [ 9.73579203e-01 2.28311638e-01 -4.16301117e-03 1.02701184e+02] [ 4.28518374e-03 -3.93883942e-05 9.99990818e-01 6.92765745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:165.01, Y:102.72, Z:0.69 [[ 2.30460123e-01 -9.73081240e-01 -1.01565263e-03 1.65006701e+02] [ 9.73072335e-01 2.30462359e-01 -4.16326791e-03 1.02724999e+02] [ 4.28526760e-03 -2.88362389e-05 9.99990818e-01 6.93819843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.01, Y:102.75, Z:0.69 [[ 2.32473782e-01 -9.72602134e-01 -1.01452773e-03 1.65013038e+02] [ 9.72593223e-01 2.32475995e-01 -4.16354201e-03 1.02748698e+02] [ 4.28532319e-03 -1.88084333e-05 9.99990818e-01 6.94405849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.898623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.02, Y:102.77, Z:0.69 [[ 2.36396892e-01 -9.71656051e-01 -1.01340038e-03 1.65020555e+02] [ 9.71647130e-01 2.36399065e-01 -4.16381639e-03 1.02771623e+02] [ 4.28536429e-03 -3.54313572e-07 9.99990818e-01 6.93889584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.928623853 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:165.03, Y:102.79, Z:0.69 [[ 2.38059350e-01 -9.71250082e-01 -1.01223047e-03 1.65026800e+02] [ 9.71241155e-01 2.38061502e-01 -4.16410078e-03 1.02794667e+02] [ 4.28535632e-03 8.18323159e-06 9.99990818e-01 6.94897209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.958623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:165.03, Y:102.82, Z:0.70 [[ 2.41026363e-01 -9.70518042e-01 -1.01110345e-03 1.65033533e+02] [ 9.70509108e-01 2.41028482e-01 -4.16437442e-03 1.02817378e+02] [ 4.28530523e-03 2.24389127e-05 9.99990818e-01 6.95239007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.988623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:165.04, Y:102.84, Z:0.70 [[ 2.42578295e-01 -9.70131306e-01 -1.00997725e-03 1.65039108e+02] [ 9.70122367e-01 2.42580395e-01 -4.16464753e-03 1.02841207e+02] [ 4.28525563e-03 3.04515786e-05 9.99990818e-01 6.95409247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.018623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:165.04, Y:102.86, Z:0.69 [[ 2.43804399e-01 -9.69823900e-01 -1.00884690e-03 1.65044443e+02] [ 9.69814958e-01 2.43806484e-01 -4.16492133e-03 1.02864372e+02] [ 4.28520366e-03 3.70313348e-05 9.99990818e-01 6.93846452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.048623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:165.05, Y:102.89, Z:0.70 [[ 2.44757989e-01 -9.69583679e-01 -1.00778114e-03 1.65050182e+02] [ 9.69574734e-01 2.44760060e-01 -4.16517920e-03 1.02888525e+02] [ 4.28515434e-03 4.23417567e-05 9.99990818e-01 6.95644476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.078623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.06, Y:102.91, Z:0.69 [[ 2.47324025e-01 -9.68932306e-01 -1.00660726e-03 1.65056006e+02] [ 9.68923354e-01 2.47326067e-01 -4.16546287e-03 1.02911346e+02] [ 4.28501176e-03 5.48937626e-05 9.99990818e-01 6.94011395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.108623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:165.06, Y:102.94, Z:0.69 [[ 2.48088619e-01 -9.68736820e-01 -1.00538826e-03 1.65061379e+02] [ 9.68727865e-01 2.48090649e-01 -4.16575707e-03 1.02935217e+02] [ 4.28494968e-03 5.95292920e-05 9.99990818e-01 6.93729423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.138623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:165.07, Y:102.96, Z:0.69 [[ 2.47839538e-01 -9.68800576e-01 -1.00421656e-03 1.65067148e+02] [ 9.68791620e-01 2.47841565e-01 -4.16603951e-03 1.02960550e+02] [ 4.28494808e-03 5.96327159e-05 9.99990818e-01 6.93840749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.168623853 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:165.07, Y:102.98, Z:0.69 [[ 2.48466714e-01 -9.68639915e-01 -1.00314535e-03 1.65072037e+02] [ 9.68630957e-01 2.48468731e-01 -4.16629743e-03 1.02983653e+02] [ 4.28489224e-03 6.35085928e-05 9.99990818e-01 6.92094585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19862385300002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:165.08, Y:103.01, Z:0.69 [[ 2.47678340e-01 -9.68841801e-01 -1.00193419e-03 1.65077082e+02] [ 9.68832844e-01 2.47680359e-01 -4.16658868e-03 1.03007906e+02] [ 4.28492470e-03 6.12670197e-05 9.99990818e-01 6.93830044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:165.08, Y:103.03, Z:0.70 [[ 2.44827657e-01 -9.69566097e-01 -1.00078824e-03 1.65081629e+02] [ 9.69557145e-01 2.44829697e-01 -4.16686391e-03 1.03032141e+02] [ 4.28507266e-03 4.98421409e-05 9.99990818e-01 6.95860802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:165.09, Y:103.06, Z:0.70 [[ 2.42687301e-01 -9.70104054e-01 -9.99639090e-04 1.65087376e+02] [ 9.70095104e-01 2.42689356e-01 -4.16713957e-03 1.03056012e+02] [ 4.28516076e-03 4.15668694e-05 9.99990818e-01 6.96705200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28862385300002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:165.09, Y:103.08, Z:0.70 [[ 2.40026153e-01 -9.70765908e-01 -9.98492434e-04 1.65093080e+02] [ 9.70756964e-01 2.40028228e-01 -4.16741430e-03 1.03079473e+02] [ 4.28525010e-03 3.09949419e-05 9.99990818e-01 6.96298465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:165.10, Y:103.10, Z:0.70 [[ 2.37186215e-01 -9.71463692e-01 -9.97352469e-04 1.65099060e+02] [ 9.71454752e-01 2.37188311e-01 -4.16768711e-03 1.03103086e+02] [ 4.28531705e-03 1.96351336e-05 9.99990818e-01 6.96216416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:165.11, Y:103.13, Z:0.70 [[ 2.31103701e-01 -9.72928613e-01 -9.96212652e-04 1.65105146e+02] [ 9.72919686e-01 2.31105849e-01 -4.16795954e-03 1.03125804e+02] [ 4.28535767e-03 -6.00402251e-06 9.99990818e-01 6.95365757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37862385300002 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:165.11, Y:103.15, Z:0.70 [[ 2.27820629e-01 -9.73702609e-01 -9.95032694e-04 1.65111388e+02] [ 9.73693688e-01 2.27822801e-01 -4.16824122e-03 1.03148517e+02] [ 4.28531848e-03 -1.92457175e-05 9.99990818e-01 6.95222627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:165.12, Y:103.17, Z:0.70 [[ 2.21639411e-01 -9.75128189e-01 -9.93864782e-04 1.65119348e+02] [ 9.75119280e-01 2.21641634e-01 -4.16851967e-03 1.03171955e+02] [ 4.28512285e-03 -4.52284675e-05 9.99990818e-01 6.95789202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:165.13, Y:103.20, Z:0.70 [[ 2.18503215e-01 -9.75835724e-01 -9.92736525e-04 1.65126020e+02] [ 9.75826821e-01 2.18505462e-01 -4.16878835e-03 1.03196038e+02] [ 4.28497095e-03 -5.78452700e-05 9.99990818e-01 6.97851865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46862385300003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:165.13, Y:103.22, Z:0.70 [[ 2.15545361e-01 -9.76493325e-01 -9.91563269e-04 1.65133228e+02] [ 9.76484428e-01 2.15547630e-01 -4.16906740e-03 1.03220808e+02] [ 4.28479560e-03 -6.96229559e-05 9.99990818e-01 6.98896805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49862385300003 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:165.14, Y:103.24, Z:0.71 [[ 2.11004187e-01 -9.77484656e-01 -9.90447439e-04 1.65143426e+02] [ 9.77475768e-01 2.11006493e-01 -4.16933247e-03 1.03243186e+02] [ 4.28444935e-03 -8.83917642e-05 9.99990818e-01 7.09536986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52862385300003 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:165.15, Y:103.27, Z:0.70 [[ 2.08917483e-01 -9.77932772e-01 -9.89284660e-04 1.65151953e+02] [ 9.77923888e-01 2.08919803e-01 -4.16960835e-03 1.03266704e+02] [ 4.28427781e-03 -9.63410191e-05 9.99990818e-01 7.00220059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55862385300003 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:165.16, Y:103.29, Z:0.70 [[ 2.06422693e-01 -9.78462414e-01 -9.88124573e-04 1.65160556e+02] [ 9.78453534e-01 2.06425031e-01 -4.16988325e-03 1.03289757e+02] [ 4.28404768e-03 -1.06075449e-04 9.99990818e-01 7.01907630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58862385300003 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:165.17, Y:103.31, Z:0.70 [[ 2.05663474e-01 -9.78622277e-01 -9.86948077e-04 1.65167868e+02] [ 9.78613398e-01 2.05665813e-01 -4.17016169e-03 1.03314551e+02] [ 4.28399461e-03 -1.08190672e-04 9.99990818e-01 7.02722393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61862385300003 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:165.18, Y:103.34, Z:0.70 [[ 2.05331668e-01 -9.78691951e-01 -9.85850757e-04 1.65175627e+02] [ 9.78683071e-01 2.05334006e-01 -4.17042109e-03 1.03337939e+02] [ 4.28398624e-03 -1.08515926e-04 9.99990818e-01 7.02672057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.648623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:165.18, Y:103.36, Z:0.70 [[ 2.05056132e-01 -9.78749719e-01 -9.84709520e-04 1.65184164e+02] [ 9.78740839e-01 2.05058468e-01 -4.17069054e-03 1.03361936e+02] [ 4.28398522e-03 -1.08549752e-04 9.99990818e-01 7.03765312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.678623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:165.20, Y:103.38, Z:0.70 [[ 2.05542807e-01 -9.78647632e-01 -9.83616620e-04 1.65195982e+02] [ 9.78638749e-01 2.05545134e-01 -4.17094827e-03 1.03384648e+02] [ 4.28406626e-03 -1.05296923e-04 9.99990818e-01 7.03087195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.708623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:165.20, Y:103.41, Z:0.70 [[ 2.06261283e-01 -9.78496458e-01 -9.82476276e-04 1.65204040e+02] [ 9.78487572e-01 2.06263599e-01 -4.17121686e-03 1.03408097e+02] [ 4.28417002e-03 -1.00980282e-04 9.99990818e-01 7.02248081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.738623853 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:165.21, Y:103.43, Z:0.70 [[ 2.07356423e-01 -9.78264970e-01 -9.81310113e-04 1.65211934e+02] [ 9.78256080e-01 2.07358723e-01 -4.17149119e-03 1.03431509e+02] [ 4.28430692e-03 -9.49870924e-05 9.99990818e-01 7.02017330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.768623853 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:165.22, Y:103.45, Z:0.70 [[ 2.10606382e-01 -9.77570453e-01 -9.80128095e-04 1.65222761e+02] [ 9.77561555e-01 2.10608648e-01 -4.17176890e-03 1.03452844e+02] [ 4.28462147e-03 -7.95343886e-05 9.99990818e-01 7.01124280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.798623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:165.23, Y:103.48, Z:0.70 [[ 2.12488506e-01 -9.77163076e-01 -9.79013561e-04 1.65230836e+02] [ 9.77154172e-01 2.12490750e-01 -4.17203044e-03 1.03476036e+02] [ 4.28478542e-03 -7.01386691e-05 9.99990818e-01 7.01057653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.828623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:165.24, Y:103.50, Z:0.70 [[ 2.17880050e-01 -9.75975065e-01 -9.77835402e-04 1.65241576e+02] [ 9.75966148e-01 2.17882239e-01 -4.17230656e-03 1.03497565e+02] [ 4.28512013e-03 -4.52718909e-05 9.99990818e-01 7.00678839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.858623853 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:165.25, Y:103.52, Z:0.70 [[ 2.20842941e-01 -9.75308895e-01 -9.76729661e-04 1.65250159e+02] [ 9.75299970e-01 2.20845099e-01 -4.17256539e-03 1.03521602e+02] [ 4.28524610e-03 -3.11227944e-05 9.99990818e-01 7.01864746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.888623853 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:165.26, Y:103.55, Z:0.71 [[ 2.24376845e-01 -9.74501965e-01 -9.75589350e-04 1.65258224e+02] [ 9.74493031e-01 2.24378965e-01 -4.17283199e-03 1.03545049e+02] [ 4.28533471e-03 -1.44181467e-05 9.99990818e-01 7.07770412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.918623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:165.27, Y:103.57, Z:0.70 [[ 2.28139179e-01 -9.73628043e-01 -9.74398754e-04 1.65265386e+02] [ 9.73619099e-01 2.28141260e-01 -4.17310999e-03 1.03568390e+02] [ 4.28535747e-03 3.35665057e-06 9.99990818e-01 7.02734702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94862385300002 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:165.27, Y:103.59, Z:0.70 [[ 2.36506126e-01 -9.71629510e-01 -9.73212237e-04 1.65273400e+02] [ 9.71620548e-01 2.36508125e-01 -4.17338668e-03 1.03592242e+02] [ 4.28515826e-03 4.14385101e-05 9.99990818e-01 7.02839092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97862385300002 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:165.28, Y:103.62, Z:0.70 [[ 2.41078534e-01 -9.70505124e-01 -9.72078391e-04 1.65279839e+02] [ 9.70496152e-01 2.41080485e-01 -4.17365076e-03 1.03616214e+02] [ 4.28489858e-03 6.27792685e-05 9.99990818e-01 7.01625130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00862385300002 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:165.29, Y:103.64, Z:0.70 [[ 2.45510925e-01 -9.69393338e-01 -9.70903769e-04 1.65285725e+02] [ 9.69384355e-01 2.45512831e-01 -4.17392399e-03 1.03639519e+02] [ 4.28454344e-03 8.35650182e-05 9.99990818e-01 7.00186776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03862385300002 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:165.29, Y:103.66, Z:0.70 [[ 2.53690733e-01 -9.67284897e-01 -9.69757990e-04 1.65291081e+02] [ 9.67275898e-01 2.53692557e-01 -4.17419018e-03 1.03663925e+02] [ 4.28365151e-03 1.20929835e-04 9.99990818e-01 6.99349107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06862385300002 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:165.30, Y:103.69, Z:0.70 [[ 2.57510118e-01 -9.66275117e-01 -9.68614405e-04 1.65295858e+02] [ 9.66266109e-01 2.57511902e-01 -4.17445553e-03 1.03686646e+02] [ 4.28310225e-03 1.39025264e-04 9.99990818e-01 6.99166397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09862385300002 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:165.30, Y:103.71, Z:0.70 [[ 2.64137730e-01 -9.64484486e-01 -9.67545906e-04 1.65300274e+02] [ 9.64475466e-01 2.64139448e-01 -4.17470317e-03 1.03711334e+02] [ 4.28200348e-03 1.69522333e-04 9.99990818e-01 7.00259119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12862385300002 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:165.30, Y:103.74, Z:0.70 [[ 2.66881841e-01 -9.63728774e-01 -9.66461395e-04 1.65304569e+02] [ 9.63719748e-01 2.66883528e-01 -4.17495423e-03 1.03735450e+02] [ 4.28145614e-03 1.82821538e-04 9.99990818e-01 6.99879964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:165.31, Y:103.76, Z:0.70 [[ 2.69075049e-01 -9.63118729e-01 -9.65340098e-04 1.65308537e+02] [ 9.63109698e-01 2.69076711e-01 -4.17521348e-03 1.03759012e+02] [ 4.28097684e-03 1.93717362e-04 9.99990818e-01 6.99664158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18862385300002 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:165.31, Y:103.78, Z:0.70 [[ 2.71817172e-01 -9.62348427e-01 -9.64158646e-04 1.65310860e+02] [ 9.62339391e-01 2.71818803e-01 -4.17548629e-03 1.03784603e+02] [ 4.28034911e-03 2.07121029e-04 9.99990818e-01 7.02990190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21862385300003 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:165.31, Y:103.81, Z:0.70 [[ 2.72307239e-01 -9.62209873e-01 -9.63088828e-04 1.65314122e+02] [ 9.62200835e-01 2.72308861e-01 -4.17573303e-03 1.03808792e+02] [ 4.28018917e-03 2.10397457e-04 9.99990818e-01 7.04022645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24862385300003 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:165.32, Y:103.83, Z:0.70 [[ 2.72409171e-01 -9.62181021e-01 -9.62177093e-04 1.65317395e+02] [ 9.62171983e-01 2.72410788e-01 -4.17594310e-03 1.03832828e+02] [ 4.28012062e-03 2.11785358e-04 9.99990818e-01 7.04811026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27862385300003 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:165.32, Y:103.86, Z:0.71 [[ 2.71765631e-01 -9.62362987e-01 -9.61073797e-04 1.65317918e+02] [ 9.62353948e-01 2.71767250e-01 -4.17619700e-03 1.03857798e+02] [ 4.28020580e-03 2.10053653e-04 9.99990818e-01 7.05995252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30862385300003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:165.32, Y:103.88, Z:0.71 [[ 2.70673785e-01 -9.62670650e-01 -9.59976425e-04 1.65320548e+02] [ 9.62661613e-01 2.70675409e-01 -4.17644924e-03 1.03883138e+02] [ 4.28038712e-03 2.06322872e-04 9.99990818e-01 7.05440525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33862385300003 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:165.32, Y:103.91, Z:0.71 [[ 2.67635132e-01 -9.63519858e-01 -9.58933985e-04 1.65319491e+02] [ 9.63510825e-01 2.67636780e-01 -4.17668858e-03 1.03908839e+02] [ 4.28096839e-03 1.93885325e-04 9.99990818e-01 7.08603717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36862385300003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:165.32, Y:103.93, Z:0.70 [[ 2.65060525e-01 -9.64231301e-01 -9.57794139e-04 1.65321295e+02] [ 9.64222271e-01 2.65062191e-01 -4.17694995e-03 1.03932975e+02] [ 4.28142090e-03 1.83618104e-04 9.99990818e-01 7.03013442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.398623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:165.32, Y:103.96, Z:0.70 [[ 2.62283855e-01 -9.64990292e-01 -9.56613217e-04 1.65323241e+02] [ 9.64981267e-01 2.62285543e-01 -4.17722039e-03 1.03958113e+02] [ 4.28188294e-03 1.72503632e-04 9.99990818e-01 7.02878506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.428623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:165.32, Y:103.98, Z:0.70 [[ 2.56064191e-01 -9.66659308e-01 -9.55481852e-04 1.65322780e+02] [ 9.66650292e-01 2.56065932e-01 -4.17747916e-03 1.03983266e+02] [ 4.28286546e-03 1.46086009e-04 9.99990818e-01 7.03286369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.458623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:165.32, Y:104.01, Z:0.70 [[ 2.52533507e-01 -9.67587679e-01 -9.54398279e-04 1.65324917e+02] [ 9.67578669e-01 2.52535276e-01 -4.17772670e-03 1.04007291e+02] [ 4.28333611e-03 1.31560556e-04 9.99990818e-01 7.03905938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.488623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:165.33, Y:104.03, Z:0.70 [[ 2.48756752e-01 -9.68565522e-01 -9.53220192e-04 1.65326568e+02] [ 9.68556518e-01 2.48758551e-01 -4.17799548e-03 1.04030713e+02] [ 4.28378405e-03 1.16056956e-04 9.99990818e-01 7.04030389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.518623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:165.33, Y:104.06, Z:0.70 [[ 2.44719141e-01 -9.69593542e-01 -9.52054854e-04 1.65328676e+02] [ 9.69584544e-01 2.44720972e-01 -4.17826101e-03 1.04055593e+02] [ 4.28420268e-03 9.94027729e-05 9.99990818e-01 7.04618067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.548623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:165.33, Y:104.08, Z:0.71 [[ 2.36970767e-01 -9.71516316e-01 -9.50933096e-04 1.65328960e+02] [ 9.71507332e-01 2.36972665e-01 -4.17851630e-03 1.04079395e+02] [ 4.28484191e-03 6.63477359e-05 9.99990818e-01 7.05596406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.578623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:165.33, Y:104.10, Z:0.71 [[ 2.32781179e-01 -9.72528673e-01 -9.49764854e-04 1.65331792e+02] [ 9.72519697e-01 2.32783111e-01 -4.17878182e-03 1.04102717e+02] [ 4.28507436e-03 4.90767319e-05 9.99990818e-01 7.06086836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.608623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:165.33, Y:104.13, Z:0.70 [[ 2.25145935e-01 -9.74324591e-01 -9.48600290e-04 1.65332941e+02] [ 9.74315629e-01 2.25147932e-01 -4.17904617e-03 1.04127934e+02] [ 4.28532284e-03 1.66591667e-05 9.99990818e-01 7.04698488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.638623853 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:165.34, Y:104.15, Z:0.71 [[ 2.21681553e-01 -9.75118655e-01 -9.47538074e-04 1.65336514e+02] [ 9.75109699e-01 2.21683578e-01 -4.17928699e-03 1.04153170e+02] [ 4.28535434e-03 2.51726646e-06 9.99990818e-01 7.05011755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.668623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:165.34, Y:104.18, Z:0.70 [[ 2.18724393e-01 -9.75786219e-01 -9.46427545e-04 1.65339946e+02] [ 9.75777268e-01 2.18726440e-01 -4.17953847e-03 1.04177896e+02] [ 4.28534476e-03 -9.33547036e-06 9.99990818e-01 7.03329676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.34, Y:104.20, Z:0.70 [[ 2.13426268e-01 -9.76958717e-01 -9.45469518e-04 1.65341444e+02] [ 9.76949776e-01 2.13428360e-01 -4.17975517e-03 1.04202512e+02] [ 4.28523826e-03 -3.16066862e-05 9.99990818e-01 7.03390252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:165.35, Y:104.23, Z:0.70 [[ 2.10840790e-01 -9.77519959e-01 -9.44350968e-04 1.65345085e+02] [ 9.77511022e-01 2.10842901e-01 -4.18000788e-03 1.04226490e+02] [ 4.28515082e-03 -4.17973176e-05 9.99990818e-01 7.04425088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.35, Y:104.25, Z:0.70 [[ 2.08502398e-01 -9.78021401e-01 -9.43195488e-04 1.65348896e+02] [ 9.78012468e-01 2.08504525e-01 -4.18026859e-03 1.04251252e+02] [ 4.28505267e-03 -5.08609221e-05 9.99990818e-01 7.04665925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78862385300002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:165.35, Y:104.28, Z:0.70 [[ 2.04789450e-01 -9.78805595e-01 -9.42040952e-04 1.65351148e+02] [ 9.78796670e-01 2.04791606e-01 -4.18052875e-03 1.04275442e+02] [ 4.28484701e-03 -6.59383612e-05 9.99990818e-01 7.04673451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81862385300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:165.36, Y:104.30, Z:0.70 [[ 2.03173818e-01 -9.79142234e-01 -9.40846875e-04 1.65355265e+02] [ 9.79133311e-01 2.03175984e-01 -4.18079747e-03 1.04299733e+02] [ 4.28475286e-03 -7.17859319e-05 9.99990818e-01 7.04948355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.36, Y:104.32, Z:0.70 [[ 2.01818653e-01 -9.79422457e-01 -9.39714322e-04 1.65359259e+02] [ 9.79413535e-01 2.01820826e-01 -4.18105201e-03 1.04322816e+02] [ 4.28467016e-03 -7.65546421e-05 9.99990818e-01 7.04341057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:165.36, Y:104.35, Z:0.71 [[ 2.01020114e-01 -9.79586664e-01 -9.38537096e-04 1.65363933e+02] [ 9.79577744e-01 2.01022289e-01 -4.18131625e-03 1.04347038e+02] [ 4.28462852e-03 -7.88413812e-05 9.99990818e-01 7.05479029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:165.37, Y:104.37, Z:0.70 [[ 2.00490497e-01 -9.79695198e-01 -9.37410233e-04 1.65367796e+02] [ 9.79686278e-01 2.00492673e-01 -4.18156887e-03 1.04370314e+02] [ 4.28460683e-03 -8.00031203e-05 9.99990818e-01 7.04619675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93862385300002 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:165.37, Y:104.39, Z:0.70 [[ 2.00491795e-01 -9.79694934e-01 -9.36243360e-04 1.65372521e+02] [ 9.79686012e-01 2.00493966e-01 -4.18183011e-03 1.04394271e+02] [ 4.28462892e-03 -7.88018970e-05 9.99990818e-01 7.04904015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96862385300003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:165.38, Y:104.42, Z:0.70 [[ 2.02189747e-01 -9.79345921e-01 -9.35132981e-04 1.65376950e+02] [ 9.79336994e-01 2.02191897e-01 -4.18207840e-03 1.04417842e+02] [ 4.28477773e-03 -7.02369507e-05 9.99990818e-01 7.04065224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:165.38, Y:104.44, Z:0.70 [[ 2.03301981e-01 -9.79115638e-01 -9.33983168e-04 1.65381619e+02] [ 9.79106707e-01 2.03304116e-01 -4.18233517e-03 1.04442349e+02] [ 4.28487239e-03 -6.41921574e-05 9.99990818e-01 7.03629705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:165.39, Y:104.47, Z:0.70 [[ 2.03045695e-01 -9.79168819e-01 -9.32884818e-04 1.65386718e+02] [ 9.79159888e-01 2.03047828e-01 -4.18258015e-03 1.04466971e+02] [ 4.28487230e-03 -6.41884997e-05 9.99990818e-01 7.03737453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:165.39, Y:104.49, Z:0.70 [[ 2.05973983e-01 -9.78557025e-01 -9.31789972e-04 1.65391133e+02] [ 9.78548086e-01 2.05976084e-01 -4.18282404e-03 1.04491156e+02] [ 4.28505830e-03 -5.02483662e-05 9.99990818e-01 7.02478380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08862385300003 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:165.40, Y:104.52, Z:0.70 [[ 2.07392328e-01 -9.78257408e-01 -9.30743775e-04 1.65395732e+02] [ 9.78248465e-01 2.07394412e-01 -4.18305683e-03 1.04515165e+02] [ 4.28513738e-03 -4.29647744e-05 9.99990818e-01 7.02767910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:165.40, Y:104.54, Z:0.70 [[ 2.08905805e-01 -9.77935325e-01 -9.29651331e-04 1.65400264e+02] [ 9.77926378e-01 2.08907871e-01 -4.18329960e-03 1.04538899e+02] [ 4.28520793e-03 -3.52149874e-05 9.99990818e-01 7.03379692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.148623853 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:165.40, Y:104.56, Z:0.71 [[ 2.10478094e-01 -9.77598133e-01 -9.28560230e-04 1.65404843e+02] [ 9.77589182e-01 2.10480141e-01 -4.18354177e-03 1.04563353e+02] [ 4.28526612e-03 -2.72065364e-05 9.99990818e-01 7.05460924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.178623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:165.41, Y:104.59, Z:0.71 [[ 2.11761431e-01 -9.77320949e-01 -9.27370509e-04 1.65409178e+02] [ 9.77311993e-01 2.11763461e-01 -4.18380548e-03 1.04586196e+02] [ 4.28530393e-03 -2.03616845e-05 9.99990818e-01 7.05033868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.208623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:165.41, Y:104.61, Z:0.71 [[ 2.14777594e-01 -9.76662545e-01 -9.26141411e-04 1.65414007e+02] [ 9.76653583e-01 2.14779591e-01 -4.18407754e-03 1.04610336e+02] [ 4.28534810e-03 -5.87321798e-06 9.99990818e-01 7.06532292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.238623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:165.42, Y:104.63, Z:0.70 [[ 2.15727184e-01 -9.76453238e-01 -9.25006023e-04 1.65418297e+02] [ 9.76444273e-01 2.15729167e-01 -4.18432854e-03 1.04633461e+02] [ 4.28535193e-03 -5.43422917e-07 9.99990818e-01 7.04732048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.268623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.42, Y:104.66, Z:0.70 [[ 2.18420992e-01 -9.75854199e-01 -9.23771580e-04 1.65422411e+02] [ 9.75845226e-01 2.18422945e-01 -4.18460105e-03 1.04657547e+02] [ 4.28533341e-03 1.25466263e-05 9.99990818e-01 7.03511775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.298623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:165.43, Y:104.68, Z:0.71 [[ 2.19599043e-01 -9.75589775e-01 -9.22701268e-04 1.65426606e+02] [ 9.75580800e-01 2.19600980e-01 -4.18483704e-03 1.04681556e+02] [ 4.28531033e-03 1.88165656e-05 9.99990818e-01 7.07047074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.328623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.43, Y:104.71, Z:0.70 [[ 2.20751906e-01 -9.75329558e-01 -9.21631679e-04 1.65430602e+02] [ 9.75320579e-01 2.20753828e-01 -4.18507258e-03 1.04705070e+02] [ 4.28527871e-03 2.49764052e-05 9.99990818e-01 7.03045155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.358623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.43, Y:104.73, Z:0.70 [[ 2.23191433e-01 -9.74774198e-01 -9.20522679e-04 1.65433750e+02] [ 9.74765214e-01 2.23193328e-01 -4.18531650e-03 1.04730061e+02] [ 4.28519305e-03 3.68332995e-05 9.99990818e-01 7.03750867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.388623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.44, Y:104.76, Z:0.70 [[ 2.23797617e-01 -9.74635204e-01 -9.19421507e-04 1.65438219e+02] [ 9.74626218e-01 2.23799502e-01 -4.18555838e-03 1.04755294e+02] [ 4.28515863e-03 4.06256873e-05 9.99990818e-01 7.03439045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.418623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:165.44, Y:104.78, Z:0.70 [[ 2.24637307e-01 -9.74442013e-01 -9.18324282e-04 1.65442753e+02] [ 9.74433024e-01 2.24639179e-01 -4.18579910e-03 1.04780320e+02] [ 4.28511012e-03 4.54411305e-05 9.99990818e-01 7.03442773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.45, Y:104.80, Z:0.70 [[ 2.24643749e-01 -9.74440529e-01 -9.17229982e-04 1.65447049e+02] [ 9.74431539e-01 2.24645616e-01 -4.18603888e-03 1.04803092e+02] [ 4.28509764e-03 4.65896442e-05 9.99990818e-01 7.03621261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:165.45, Y:104.83, Z:0.70 [[ 2.24336895e-01 -9.74511220e-01 -9.15995036e-04 1.65451392e+02] [ 9.74502230e-01 2.24338760e-01 -4.18630910e-03 1.04827326e+02] [ 4.28509838e-03 4.65043805e-05 9.99990818e-01 7.04387237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50862385300002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:165.45, Y:104.85, Z:0.71 [[ 2.23051889e-01 -9.74806144e-01 -9.14806439e-04 1.65454855e+02] [ 9.74797154e-01 2.23053761e-01 -4.18656882e-03 1.04851044e+02] [ 4.28514402e-03 4.20713699e-05 9.99990818e-01 7.05667373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53862385300002 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:165.46, Y:104.88, Z:0.71 [[ 2.22093814e-01 -9.75024873e-01 -9.13687798e-04 1.65459277e+02] [ 9.75015885e-01 2.22095690e-01 -4.18681294e-03 1.04876644e+02] [ 4.28517288e-03 3.90051379e-05 9.99990818e-01 7.06457920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56862385300002 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:165.46, Y:104.90, Z:0.71 [[ 2.20234515e-01 -9.75446526e-01 -9.12564684e-04 1.65463647e+02] [ 9.75437540e-01 2.20236403e-01 -4.18705772e-03 1.04900365e+02] [ 4.28523087e-03 3.19847745e-05 9.99990818e-01 7.05585062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:165.47, Y:104.93, Z:0.71 [[ 2.19071416e-01 -9.75708401e-01 -9.11396968e-04 1.65469020e+02] [ 9.75699416e-01 2.19073310e-01 -4.18731188e-03 1.04925550e+02] [ 4.28525813e-03 2.80708544e-05 9.99990818e-01 7.05711544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62862385300002 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:165.47, Y:104.95, Z:0.71 [[ 2.17938924e-01 -9.75961985e-01 -9.10289199e-04 1.65473870e+02] [ 9.75953002e-01 2.17940824e-01 -4.18755269e-03 1.04949522e+02] [ 4.28528141e-03 2.42312514e-05 9.99990818e-01 7.05334384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65862385300002 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:165.48, Y:104.97, Z:0.70 [[ 2.16735830e-01 -9.76229867e-01 -9.09136531e-04 1.65478799e+02] [ 9.76220885e-01 2.16737736e-01 -4.18780292e-03 1.04974597e+02] [ 4.28530249e-03 2.01288730e-05 9.99990818e-01 7.04863393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:165.48, Y:105.00, Z:0.70 [[ 2.14666530e-01 -9.76686980e-01 -9.08037368e-04 1.65483699e+02] [ 9.76678001e-01 2.14668450e-01 -4.18804124e-03 1.04998105e+02] [ 4.28533233e-03 1.21721593e-05 9.99990818e-01 7.04408955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71862385300003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:165.49, Y:105.02, Z:0.71 [[ 2.13484806e-01 -9.76945963e-01 -9.06912146e-04 1.65488699e+02] [ 9.76936986e-01 2.13486732e-01 -4.18828489e-03 1.05023175e+02] [ 4.28534173e-03 8.13916730e-06 9.99990818e-01 7.05419846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74862385300003 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:165.49, Y:105.05, Z:0.71 [[ 2.11748934e-01 -9.77323677e-01 -9.05777701e-04 1.65493557e+02] [ 9.77314701e-01 2.11750871e-01 -4.18853022e-03 1.05047110e+02] [ 4.28534897e-03 1.68694298e-06 9.99990818e-01 7.10789001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77862385300003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:165.50, Y:105.07, Z:0.71 [[ 2.10674348e-01 -9.77555881e-01 -9.04647673e-04 1.65498907e+02] [ 9.77546907e-01 2.10676290e-01 -4.18877427e-03 1.05072435e+02] [ 4.28534874e-03 -1.86824789e-06 9.99990818e-01 7.05583859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80862385300003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:165.51, Y:105.10, Z:0.71 [[ 2.09643499e-01 -9.77777473e-01 -9.03516058e-04 1.65505301e+02] [ 9.77768500e-01 2.09645446e-01 -4.18901834e-03 1.05096508e+02] [ 4.28534580e-03 -5.22907779e-06 9.99990818e-01 7.06100646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83862385300003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:165.51, Y:105.12, Z:0.71 [[ 2.09342071e-01 -9.77842054e-01 -9.02351034e-04 1.65510205e+02] [ 9.77833080e-01 2.09344015e-01 -4.18926928e-03 1.05119144e+02] [ 4.28534547e-03 -5.35838434e-06 9.99990818e-01 7.09614721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:165.51, Y:105.14, Z:0.71 [[ 2.08981833e-01 -9.77919108e-01 -9.01234997e-04 1.65514899e+02] [ 9.77910133e-01 2.08983777e-01 -4.18950936e-03 1.05143444e+02] [ 4.28534475e-03 -5.79548750e-06 9.99990818e-01 7.06245574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.898623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.52, Y:105.17, Z:0.71 [[ 2.08964594e-01 -9.77922793e-01 -9.00052147e-04 1.65519261e+02] [ 9.77913817e-01 2.08966532e-01 -4.18976347e-03 1.05166618e+02] [ 4.28534596e-03 -4.66121011e-06 9.99990818e-01 7.06126102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.928623853 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:165.52, Y:105.19, Z:0.71 [[ 2.09986424e-01 -9.77703889e-01 -8.98823256e-04 1.65524729e+02] [ 9.77694910e-01 2.09988348e-01 -4.19002708e-03 1.05191754e+02] [ 4.28534818e-03 1.07388204e-06 9.99990818e-01 7.06622344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.958623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:165.53, Y:105.22, Z:0.71 [[ 2.10747803e-01 -9.77540054e-01 -8.97721503e-04 1.65529955e+02] [ 9.77531073e-01 2.10749715e-01 -4.19026312e-03 1.05216608e+02] [ 4.28534459e-03 5.53808166e-06 9.99990818e-01 7.06323355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.988623853 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:165.53, Y:105.24, Z:0.71 [[ 2.13371627e-01 -9.76970698e-01 -8.96603576e-04 1.65534144e+02] [ 9.76961711e-01 2.13373510e-01 -4.19050231e-03 1.05241148e+02] [ 4.28530942e-03 1.81869319e-05 9.99990818e-01 7.05249079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.018623853 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:165.54, Y:105.27, Z:0.71 [[ 2.14545342e-01 -9.76713619e-01 -8.95650329e-04 1.65538869e+02] [ 9.76704629e-01 2.14547210e-01 -4.19070604e-03 1.05266422e+02] [ 4.28527895e-03 2.43106397e-05 9.99990818e-01 7.05525961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.048623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:165.54, Y:105.29, Z:0.71 [[ 2.15965066e-01 -9.76400681e-01 -8.94525124e-04 1.65543305e+02] [ 9.76391687e-01 2.15966916e-01 -4.19094621e-03 1.05290426e+02] [ 4.28523057e-03 3.16910785e-05 9.99990818e-01 7.05529928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.078623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:165.55, Y:105.31, Z:0.71 [[ 2.18838111e-01 -9.75760772e-01 -8.93355720e-04 1.65546847e+02] [ 9.75751771e-01 2.18839929e-01 -4.19119547e-03 1.05314161e+02] [ 4.28510603e-03 4.54998715e-05 9.99990818e-01 7.06683451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.108623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:165.55, Y:105.34, Z:0.71 [[ 2.20023968e-01 -9.75494058e-01 -8.92118394e-04 1.65551438e+02] [ 9.75485055e-01 2.20025771e-01 -4.19145882e-03 1.05338993e+02] [ 4.28503222e-03 5.19732437e-05 9.99990818e-01 7.08438187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.138623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:165.56, Y:105.36, Z:0.71 [[ 2.20943832e-01 -9.75286127e-01 -8.91014467e-04 1.65555787e+02] [ 9.75277121e-01 2.20945621e-01 -4.19169348e-03 1.05363564e+02] [ 4.28496625e-03 5.71427973e-05 9.99990818e-01 7.08979938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.168623853 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:165.56, Y:105.39, Z:0.71 [[ 2.21882761e-01 -9.75072945e-01 -8.90054179e-04 1.65559990e+02] [ 9.75063936e-01 2.21884537e-01 -4.19189738e-03 1.05388674e+02] [ 4.28489498e-03 6.22500321e-05 9.99990818e-01 7.10287502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19862385300002 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:165.56, Y:105.41, Z:0.71 [[ 2.23800897e-01 -9.74634479e-01 -8.88936852e-04 1.65563376e+02] [ 9.74625466e-01 2.23802651e-01 -4.19213431e-03 1.05412698e+02] [ 4.28474506e-03 7.18229251e-05 9.99990818e-01 7.10993007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:165.57, Y:105.44, Z:0.71 [[ 2.24233904e-01 -9.74534950e-01 -8.87979512e-04 1.65567807e+02] [ 9.74525935e-01 2.24235650e-01 -4.19233708e-03 1.05437980e+02] [ 4.28469567e-03 7.47050455e-05 9.99990818e-01 7.11386899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25862385300002 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:165.57, Y:105.46, Z:0.71 [[ 2.25193676e-01 -9.74313616e-01 -8.86895316e-04 1.65570766e+02] [ 9.74304598e-01 2.25195408e-01 -4.19256643e-03 1.05463688e+02] [ 4.28459931e-03 8.00332621e-05 9.99990818e-01 7.11913430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28862385300002 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:165.57, Y:105.49, Z:0.71 [[ 2.25493022e-01 -9.74244380e-01 -8.85786602e-04 1.65574395e+02] [ 9.74235362e-01 2.25494747e-01 -4.19280066e-03 1.05488166e+02] [ 4.28455271e-03 8.24826623e-05 9.99990818e-01 7.09984083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31862385300002 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:165.58, Y:105.51, Z:0.71 [[ 2.25662324e-01 -9.74205180e-01 -8.84631668e-04 1.65577938e+02] [ 9.74196160e-01 2.25664042e-01 -4.19304432e-03 1.05512917e+02] [ 4.28451506e-03 8.44073510e-05 9.99990818e-01 7.10488168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:165.58, Y:105.54, Z:0.71 [[ 2.25948031e-01 -9.74138957e-01 -8.83459880e-04 1.65579315e+02] [ 9.74129935e-01 2.25949741e-01 -4.19329120e-03 1.05537443e+02] [ 4.28446585e-03 8.68611740e-05 9.99990818e-01 7.09230318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37862385300002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:165.58, Y:105.56, Z:0.71 [[ 2.26225097e-01 -9.74074652e-01 -8.82291480e-04 1.65582599e+02] [ 9.74065629e-01 2.26226800e-01 -4.19353703e-03 1.05562784e+02] [ 4.28441610e-03 8.92735164e-05 9.99990818e-01 7.09374544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40862385300002 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:165.58, Y:105.59, Z:0.71 [[ 2.26595575e-01 -9.73988536e-01 -8.81206424e-04 1.65583375e+02] [ 9.73979512e-01 2.26597269e-01 -4.19376502e-03 1.05586778e+02] [ 4.28435802e-03 9.20115917e-05 9.99990818e-01 7.09981114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:165.59, Y:105.61, Z:0.71 [[ 2.26376634e-01 -9.74039447e-01 -8.80094131e-04 1.65585981e+02] [ 9.74030423e-01 2.26378326e-01 -4.19399843e-03 1.05611162e+02] [ 4.28435415e-03 9.21847878e-05 9.99990818e-01 7.09477880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46862385300003 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:165.59, Y:105.64, Z:0.71 [[ 2.25946885e-01 -9.74139227e-01 -8.78957468e-04 1.65588595e+02] [ 9.74130202e-01 2.25948576e-01 -4.19423663e-03 1.05635527e+02] [ 4.28436962e-03 9.14556857e-05 9.99990818e-01 7.08466682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49862385300003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:165.59, Y:105.66, Z:0.71 [[ 2.25323863e-01 -9.74283525e-01 -8.77819537e-04 1.65591198e+02] [ 9.74274500e-01 2.25325555e-01 -4.19447478e-03 1.05658760e+02] [ 4.28440285e-03 8.98780685e-05 9.99990818e-01 7.07648080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.59, Y:105.68, Z:0.71 [[ 2.22897952e-01 -9.74841389e-01 -8.76641027e-04 1.65591855e+02] [ 9.74832368e-01 2.22899662e-01 -4.19472107e-03 1.05683353e+02] [ 4.28459071e-03 8.04166889e-05 9.99990818e-01 7.06806277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:165.59, Y:105.71, Z:0.71 [[ 2.20921200e-01 -9.75291268e-01 -8.75470619e-04 1.65594272e+02] [ 9.75282249e-01 2.20922922e-01 -4.19496533e-03 1.05708871e+02] [ 4.28472458e-03 7.29258194e-05 9.99990818e-01 7.07158131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:165.60, Y:105.73, Z:0.71 [[ 2.16436539e-01 -9.76296297e-01 -8.74369362e-04 1.65595743e+02] [ 9.76287285e-01 2.16438299e-01 -4.19519486e-03 1.05734883e+02] [ 4.28500022e-03 5.43577657e-05 9.99990818e-01 7.06973976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.60, Y:105.76, Z:0.71 [[ 2.13571757e-01 -9.76926989e-01 -8.73242359e-04 1.65599376e+02] [ 9.76917981e-01 2.13573538e-01 -4.19542943e-03 1.05758982e+02] [ 4.28512970e-03 4.29390721e-05 9.99990818e-01 7.06132146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64862385300003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:165.60, Y:105.78, Z:0.71 [[ 2.10746357e-01 -9.77540389e-01 -8.72071226e-04 1.65603628e+02] [ 9.77531386e-01 2.10748159e-01 -4.19567285e-03 1.05784455e+02] [ 4.28522708e-03 3.17457746e-05 9.99990818e-01 7.06697099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.678623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:165.61, Y:105.81, Z:0.71 [[ 2.07573029e-01 -9.78219137e-01 -8.70968778e-04 1.65607257e+02] [ 9.78210138e-01 2.07574855e-01 -4.19590170e-03 1.05808910e+02] [ 4.28530255e-03 1.89655342e-05 9.99990818e-01 7.07193683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.708623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:165.61, Y:105.83, Z:0.71 [[ 2.01025338e-01 -9.79585656e-01 -8.69826349e-04 1.65610737e+02] [ 9.79576668e-01 2.01027220e-01 -4.19613851e-03 1.05832522e+02] [ 4.28533587e-03 -8.53143315e-06 9.99990818e-01 7.07607964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.738623853 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:165.61, Y:105.86, Z:0.71 [[ 1.97724639e-01 -9.80257218e-01 -8.68596191e-04 1.65614989e+02] [ 9.80248236e-01 1.97726545e-01 -4.19639314e-03 1.05856321e+02] [ 4.28528919e-03 -2.17095662e-05 9.99990818e-01 7.08812348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.768623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:165.62, Y:105.88, Z:0.71 [[ 1.92012510e-01 -9.81392095e-01 -8.67415645e-04 1.65618461e+02] [ 9.81383123e-01 1.92014464e-01 -4.19663715e-03 1.05881651e+02] [ 4.28510287e-03 -4.54602409e-05 9.99990818e-01 7.11338703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.798623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:165.62, Y:105.91, Z:0.71 [[ 1.89178429e-01 -9.81942346e-01 -8.66330550e-04 1.65623215e+02] [ 9.81933379e-01 1.89180404e-01 -4.19686114e-03 1.05906376e+02] [ 4.28496844e-03 -5.67232887e-05 9.99990818e-01 7.11313365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.828623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:165.63, Y:105.93, Z:0.71 [[ 1.86414231e-01 -9.82470858e-01 -8.65235782e-04 1.65628267e+02] [ 9.82461895e-01 1.86416227e-01 -4.19708683e-03 1.05930018e+02] [ 4.28480948e-03 -6.76644720e-05 9.99990818e-01 7.10853989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.858623853 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:165.64, Y:105.95, Z:0.71 [[ 1.81771198e-01 -9.83340473e-01 -8.64101014e-04 1.65635114e+02] [ 9.83331518e-01 1.81773231e-01 -4.19732044e-03 1.05953661e+02] [ 4.28446550e-03 -8.67457985e-05 9.99990818e-01 7.10081931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.888623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:165.64, Y:105.98, Z:0.71 [[ 1.79943808e-01 -9.83676512e-01 -8.62971926e-04 1.65639919e+02] [ 9.83667561e-01 1.79945853e-01 -4.19755257e-03 1.05976694e+02] [ 4.28432209e-03 -9.35538945e-05 9.99990818e-01 7.09386851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.918623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.65, Y:106.00, Z:0.71 [[ 1.78167613e-01 -9.83999776e-01 -8.61760883e-04 1.65645325e+02] [ 9.83990827e-01 1.78169669e-01 -4.19780118e-03 1.06000570e+02] [ 4.28417507e-03 -1.00052588e-04 9.99990818e-01 7.08153059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.65, Y:106.03, Z:0.71 [[ 1.77895301e-01 -9.84049044e-01 -8.60598215e-04 1.65650025e+02] [ 9.84040095e-01 1.77897354e-01 -4.19803953e-03 1.06025259e+02] [ 4.28417493e-03 -1.00051645e-04 9.99990818e-01 7.08260808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97862385300002 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:165.65, Y:106.05, Z:0.71 [[ 1.77423295e-01 -9.84134257e-01 -8.59436402e-04 1.65654743e+02] [ 9.84125307e-01 1.77425348e-01 -4.19827737e-03 1.06048007e+02] [ 4.28415438e-03 -1.00920909e-04 9.99990818e-01 7.08023092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00862385300002 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:165.66, Y:106.07, Z:0.71 [[ 1.77568331e-01 -9.84108099e-01 -8.58345594e-04 1.65660167e+02] [ 9.84099148e-01 1.77570378e-01 -4.19850037e-03 1.06072462e+02] [ 4.28419497e-03 -9.91764638e-05 9.99990818e-01 7.13434464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03862385300002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:165.67, Y:106.10, Z:0.71 [[ 1.78720057e-01 -9.83899592e-01 -8.57196911e-04 1.65666041e+02] [ 9.83890637e-01 1.78722088e-01 -4.19873488e-03 1.06095553e+02] [ 4.28433356e-03 -9.29898783e-05 9.99990818e-01 7.07953850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.67, Y:106.12, Z:0.71 [[ 1.79342137e-01 -9.83786392e-01 -8.56116814e-04 1.65670636e+02] [ 9.83777435e-01 1.79344158e-01 -4.19895510e-03 1.06118312e+02] [ 4.28441444e-03 -8.91788232e-05 9.99990818e-01 7.08086722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09862385300002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:165.68, Y:106.14, Z:0.71 [[ 1.81375448e-01 -9.83413553e-01 -8.54934554e-04 1.65676132e+02] [ 9.83404591e-01 1.81377446e-01 -4.19919580e-03 1.06142052e+02] [ 4.28461191e-03 -7.91155446e-05 9.99990818e-01 7.07108919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12862385300002 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:165.68, Y:106.17, Z:0.72 [[ 1.82503873e-01 -9.83204764e-01 -8.53803632e-04 1.65680702e+02] [ 9.83195798e-01 1.82505856e-01 -4.19942574e-03 1.06165420e+02] [ 4.28471955e-03 -7.30446811e-05 9.99990818e-01 7.15374694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.69, Y:106.19, Z:0.71 [[ 1.83440302e-01 -9.83030482e-01 -8.52630008e-04 1.65685551e+02] [ 9.83021514e-01 1.83442271e-01 -4.19966401e-03 1.06189741e+02] [ 4.28480612e-03 -6.77660083e-05 9.99990818e-01 7.06748722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:165.69, Y:106.21, Z:0.71 [[ 1.84420952e-01 -9.82846981e-01 -8.51512162e-04 1.65690542e+02] [ 9.82838009e-01 1.84422908e-01 -4.19989065e-03 1.06214190e+02] [ 4.28488819e-03 -6.23506848e-05 9.99990818e-01 7.06354519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:165.70, Y:106.24, Z:0.71 [[ 1.86653808e-01 -9.82425383e-01 -8.50396570e-04 1.65696657e+02] [ 9.82416406e-01 1.86655738e-01 -4.20011652e-03 1.06236672e+02] [ 4.28503248e-03 -5.14758000e-05 9.99990818e-01 7.06092211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24862385300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:165.70, Y:106.26, Z:0.71 [[ 1.87652512e-01 -9.82235111e-01 -8.49343767e-04 1.65701981e+02] [ 9.82226131e-01 1.87654428e-01 -4.20032941e-03 1.06259728e+02] [ 4.28509414e-03 -4.60452792e-05 9.99990818e-01 7.06654576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27862385300003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:165.71, Y:106.28, Z:0.71 [[ 1.89630304e-01 -9.81855197e-01 -8.48192506e-04 1.65707709e+02] [ 9.81846213e-01 1.89632197e-01 -4.20056187e-03 1.06283069e+02] [ 4.28518812e-03 -3.62407761e-05 9.99990818e-01 7.06729348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30862385300003 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:165.71, Y:106.31, Z:0.72 [[ 1.90323420e-01 -9.81721080e-01 -8.47043410e-04 1.65712629e+02] [ 9.81712093e-01 1.90325302e-01 -4.20079358e-03 1.06306685e+02] [ 4.28522140e-03 -3.20433587e-05 9.99990818e-01 7.15804750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33862385300003 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:165.72, Y:106.33, Z:0.72 [[ 1.90825388e-01 -9.81623632e-01 -8.45944513e-04 1.65717679e+02] [ 9.81614643e-01 1.90827261e-01 -4.20101486e-03 1.06330660e+02] [ 4.28524474e-03 -2.87312299e-05 9.99990818e-01 7.17782882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36862385300003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:165.72, Y:106.35, Z:0.71 [[ 1.91267261e-01 -9.81537631e-01 -8.44790343e-04 1.65723780e+02] [ 9.81528640e-01 1.91269125e-01 -4.20124694e-03 1.06353185e+02] [ 4.28526428e-03 -2.56249220e-05 9.99990818e-01 7.07341198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39862385300003 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:165.73, Y:106.38, Z:0.71 [[ 1.90925417e-01 -9.81604184e-01 -8.43597172e-04 1.65729219e+02] [ 9.81595192e-01 1.90927279e-01 -4.20148651e-03 1.06377633e+02] [ 4.28526245e-03 -2.59003642e-05 9.99990818e-01 7.07996418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.428623853 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:165.73, Y:106.40, Z:0.71 [[ 1.90463037e-01 -9.81694006e-01 -8.42460223e-04 1.65734014e+02] [ 9.81685015e-01 1.90464899e-01 -4.20171447e-03 1.06401199e+02] [ 4.28525702e-03 -2.67592755e-05 9.99990818e-01 7.12722335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.458623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:165.74, Y:106.43, Z:0.71 [[ 1.90150357e-01 -9.81754620e-01 -8.41279913e-04 1.65739201e+02] [ 9.81745628e-01 1.90152216e-01 -4.20195079e-03 1.06425395e+02] [ 4.28525584e-03 -2.69204356e-05 9.99990818e-01 7.08865232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.488623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:165.75, Y:106.45, Z:0.71 [[ 1.88758217e-01 -9.82023233e-01 -8.40149969e-04 1.65746052e+02] [ 9.82014242e-01 1.88760084e-01 -4.20217670e-03 1.06450315e+02] [ 4.28522192e-03 -3.18438547e-05 9.99990818e-01 7.08943004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.518623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.75, Y:106.47, Z:0.71 [[ 1.87700544e-01 -9.82225942e-01 -8.39022373e-04 1.65752448e+02] [ 9.82216953e-01 1.87702416e-01 -4.20240183e-03 1.06474372e+02] [ 4.28519462e-03 -3.53088898e-05 9.99990818e-01 7.07780462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.548623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:165.76, Y:106.50, Z:0.72 [[ 1.85375483e-01 -9.82667405e-01 -8.37858172e-04 1.65759155e+02] [ 9.82658419e-01 1.85377371e-01 -4.20263393e-03 1.06497747e+02] [ 4.28511132e-03 -4.42630924e-05 9.99990818e-01 7.17470249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.578623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:165.77, Y:106.52, Z:0.72 [[ 1.84059923e-01 -9.82914668e-01 -8.36752650e-04 1.65765257e+02] [ 9.82905684e-01 1.84061818e-01 -4.20285403e-03 1.06522430e+02] [ 4.28506108e-03 -4.88719482e-05 9.99990818e-01 7.19513487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.608623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:165.77, Y:106.55, Z:0.71 [[ 1.82502086e-01 -9.83205111e-01 -8.35648317e-04 1.65771745e+02] [ 9.83196129e-01 1.82503991e-01 -4.20307359e-03 1.06545881e+02] [ 4.28499259e-03 -5.45364928e-05 9.99990818e-01 7.11081231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.638623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:165.78, Y:106.57, Z:0.71 [[ 1.80252972e-01 -9.83619932e-01 -8.34501865e-04 1.65779910e+02] [ 9.83610953e-01 1.80254893e-01 -4.20330120e-03 1.06569775e+02] [ 4.28487388e-03 -6.31676396e-05 9.99990818e-01 7.12628105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.668623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:165.79, Y:106.59, Z:0.71 [[ 1.78913488e-01 -9.83864457e-01 -8.33405052e-04 1.65785983e+02] [ 9.83855479e-01 1.78915416e-01 -4.20351866e-03 1.06594105e+02] [ 4.28480161e-03 -6.78839416e-05 9.99990818e-01 7.12586811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:165.79, Y:106.62, Z:0.71 [[ 1.77661492e-01 -9.84091307e-01 -8.32315919e-04 1.65792050e+02] [ 9.84082332e-01 1.77663427e-01 -4.20373430e-03 1.06617799e+02] [ 4.28473048e-03 -7.22256812e-05 9.99990818e-01 7.11826817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72862385300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:165.80, Y:106.64, Z:0.71 [[ 1.75475349e-01 -9.84483474e-01 -8.31228322e-04 1.65800557e+02] [ 9.84474502e-01 1.75477300e-01 -4.20394934e-03 1.06640306e+02] [ 4.28458036e-03 -8.06336083e-05 9.99990818e-01 7.11938842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:165.81, Y:106.66, Z:0.71 [[ 1.74599002e-01 -9.84639274e-01 -8.30102054e-04 1.65807476e+02] [ 9.84630302e-01 1.74600956e-01 -4.20417172e-03 1.06663518e+02] [ 4.28452920e-03 -8.32994481e-05 9.99990818e-01 7.11107351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:165.81, Y:106.69, Z:0.71 [[ 1.73945287e-01 -9.84754969e-01 -8.28982145e-04 1.65814628e+02] [ 9.84745998e-01 1.73947242e-01 -4.20439254e-03 1.06687381e+02] [ 4.28449560e-03 -8.50025823e-05 9.99990818e-01 7.10563953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.82, Y:106.71, Z:0.71 [[ 1.73556158e-01 -9.84823626e-01 -8.27907849e-04 1.65823107e+02] [ 9.84814654e-01 1.73558111e-01 -4.20460407e-03 1.06708601e+02] [ 4.28448355e-03 -8.56008542e-05 9.99990818e-01 7.10052377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:165.83, Y:106.73, Z:0.71 [[ 1.73881547e-01 -9.84766228e-01 -8.26703643e-04 1.65829795e+02] [ 9.84757255e-01 1.73883492e-01 -4.20484083e-03 1.06731150e+02] [ 4.28453536e-03 -8.29581830e-05 9.99990818e-01 7.09475595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.84, Y:106.75, Z:0.71 [[ 1.74119266e-01 -9.84724225e-01 -8.25549296e-04 1.65836399e+02] [ 9.84715250e-01 1.74121204e-01 -4.20506745e-03 1.06753325e+02] [ 4.28457743e-03 -8.07477229e-05 9.99990818e-01 7.08227420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.85, Y:106.77, Z:0.71 [[ 1.75609873e-01 -9.84459493e-01 -8.24364315e-04 1.65845761e+02] [ 9.84450514e-01 1.75611793e-01 -4.20529974e-03 1.06774963e+02] [ 4.28471535e-03 -7.30537190e-05 9.99990818e-01 7.06768199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93862385300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:165.85, Y:106.80, Z:0.71 [[ 1.76775859e-01 -9.84250790e-01 -8.23173645e-04 1.65852735e+02] [ 9.84241808e-01 1.76777763e-01 -4.20553280e-03 1.06799325e+02] [ 4.28481778e-03 -6.67652424e-05 9.99990818e-01 7.08440215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.86, Y:106.82, Z:0.71 [[ 1.81098968e-01 -9.83464533e-01 -8.22060039e-04 1.65861508e+02] [ 9.83455541e-01 1.81100828e-01 -4.20575047e-03 1.06822124e+02] [ 4.28508217e-03 -4.68024299e-05 9.99990818e-01 7.08759183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99862385300003 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:165.87, Y:106.85, Z:0.72 [[ 1.83577743e-01 -9.83004852e-01 -8.20904482e-04 1.65866547e+02] [ 9.82995854e-01 1.83579575e-01 -4.20597600e-03 1.06845087e+02] [ 4.28519611e-03 -3.48221223e-05 9.99990818e-01 7.18708477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02862385300003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:165.87, Y:106.87, Z:0.71 [[ 1.86760366e-01 -9.82405158e-01 -8.19739970e-04 1.65872039e+02] [ 9.82396153e-01 1.86762164e-01 -4.20620295e-03 1.06868382e+02] [ 4.28529189e-03 -1.97573908e-05 9.99990818e-01 7.10325814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:165.88, Y:106.89, Z:0.71 [[ 1.90276448e-01 -9.81730209e-01 -8.18604693e-04 1.65876797e+02] [ 9.81721197e-01 1.90278208e-01 -4.20642389e-03 1.06891224e+02] [ 4.28533604e-03 -3.25818588e-06 9.99990818e-01 7.11240863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.88, Y:106.92, Z:0.71 [[ 1.97596994e-01 -9.80283000e-01 -8.17467344e-04 1.65882332e+02] [ 9.80273974e-01 1.97598683e-01 -4.20664491e-03 1.06915595e+02] [ 4.28523296e-03 2.98784262e-05 9.99990818e-01 7.12799642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:165.89, Y:106.94, Z:0.71 [[ 2.01049348e-01 -9.79580774e-01 -8.16350586e-04 1.65886797e+02] [ 9.79571742e-01 2.01051000e-01 -4.20686161e-03 1.06938968e+02] [ 4.28508886e-03 4.61128178e-05 9.99990818e-01 7.12300905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:165.89, Y:106.96, Z:0.71 [[ 2.07485631e-01 -9.78237726e-01 -8.15080889e-04 1.65890611e+02] [ 9.78228682e-01 2.07487218e-01 -4.20710760e-03 1.06963558e+02] [ 4.28467024e-03 7.55788707e-05 9.99990818e-01 7.12335175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.178623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:165.89, Y:106.99, Z:0.71 [[ 2.09936483e-01 -9.77714688e-01 -8.13868506e-04 1.65894038e+02] [ 9.77705639e-01 2.09938043e-01 -4.20734213e-03 1.06987146e+02] [ 4.28444216e-03 8.75507822e-05 9.99990818e-01 7.11677586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.208623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:165.90, Y:107.01, Z:0.71 [[ 2.11966154e-01 -9.77276670e-01 -8.12621050e-04 1.65897106e+02] [ 9.77267617e-01 2.11967689e-01 -4.20758305e-03 1.07011780e+02] [ 4.28422216e-03 9.77169599e-05 9.99990818e-01 7.10936170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.90, Y:107.04, Z:0.71 [[ 2.14467923e-01 -9.76730696e-01 -8.11453050e-04 1.65898897e+02] [ 9.76721638e-01 2.14469430e-01 -4.20780829e-03 1.07036121e+02] [ 4.28392740e-03 1.09876151e-04 9.99990818e-01 7.10773388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.268623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.90, Y:107.06, Z:0.71 [[ 2.14562391e-01 -9.76709949e-01 -8.10286250e-04 1.65902717e+02] [ 9.76700890e-01 2.14563892e-01 -4.20803297e-03 1.07060842e+02] [ 4.28388584e-03 1.11478312e-04 9.99990818e-01 7.10274192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.298623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:165.91, Y:107.08, Z:0.71 [[ 2.13493310e-01 -9.76944191e-01 -8.09102673e-04 1.65905625e+02] [ 9.76935133e-01 2.13494816e-01 -4.20826053e-03 1.07083964e+02] [ 4.28397491e-03 1.07994643e-04 9.99990818e-01 7.11035135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.328623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:165.91, Y:107.11, Z:0.71 [[ 2.12258779e-01 -9.77213159e-01 -8.07876061e-04 1.65909419e+02] [ 9.77204102e-01 2.12260291e-01 -4.20849600e-03 1.07107920e+02] [ 4.28407767e-03 1.03830421e-04 9.99990818e-01 7.10835544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.358623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:165.91, Y:107.13, Z:0.72 [[ 2.10387549e-01 -9.77617731e-01 -8.06697628e-04 1.65912398e+02] [ 9.77608677e-01 2.10389073e-01 -4.20872187e-03 1.07132872e+02] [ 4.28424149e-03 9.68280769e-05 9.99990818e-01 7.17558147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.388623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:165.92, Y:107.16, Z:0.71 [[ 2.06684571e-01 -9.78407297e-01 -8.05524596e-04 1.65915903e+02] [ 9.78398247e-01 2.06686125e-01 -4.20894637e-03 1.07157497e+02] [ 4.28455460e-03 8.18004230e-05 9.99990818e-01 7.09002430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.418623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:165.92, Y:107.18, Z:0.71 [[ 2.04384214e-01 -9.78890416e-01 -8.04353346e-04 1.65919655e+02] [ 9.78881369e-01 2.04385783e-01 -4.20917019e-03 1.07180783e+02] [ 4.28471475e-03 7.29214352e-05 9.99990818e-01 7.08483583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:165.92, Y:107.21, Z:0.71 [[ 2.01662251e-01 -9.79454793e-01 -8.03251707e-04 1.65923518e+02] [ 9.79445750e-01 2.01663841e-01 -4.20938041e-03 1.07205258e+02] [ 4.28488464e-03 6.21316581e-05 9.99990818e-01 7.08294361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:165.93, Y:107.23, Z:0.71 [[ 1.96357728e-01 -9.80531998e-01 -8.02116098e-04 1.65927339e+02] [ 9.80522963e-01 1.96359362e-01 -4.20959679e-03 1.07228858e+02] [ 4.28514736e-03 4.00936070e-05 9.99990818e-01 7.08994855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50862385300002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:165.93, Y:107.25, Z:0.71 [[ 1.93445590e-01 -9.81110678e-01 -8.01044533e-04 1.65931666e+02] [ 9.81101646e-01 1.93447247e-01 -4.20980069e-03 1.07253536e+02] [ 4.28524027e-03 2.84612702e-05 9.99990818e-01 7.09815025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53862385300002 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:165.94, Y:107.28, Z:0.71 [[ 1.88116877e-01 -9.82146324e-01 -7.99925099e-04 1.65935631e+02] [ 9.82137300e-01 1.88118577e-01 -4.21001339e-03 1.07276369e+02] [ 4.28532994e-03 6.33829297e-06 9.99990818e-01 7.09374284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56862385300002 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:165.94, Y:107.30, Z:0.71 [[ 1.85476707e-01 -9.82648337e-01 -7.98777479e-04 1.65939864e+02] [ 9.82639317e-01 1.85478427e-01 -4.21023112e-03 1.07301024e+02] [ 4.28533260e-03 -4.01035334e-06 9.99990818e-01 7.10536527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59862385300002 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:165.94, Y:107.32, Z:0.71 [[ 1.83118444e-01 -9.83090535e-01 -7.97569738e-04 1.65943811e+02] [ 9.83081518e-01 1.83120180e-01 -4.21045990e-03 1.07324940e+02] [ 4.28531439e-03 -1.30632041e-05 9.99990818e-01 7.10482632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62862385300002 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:165.95, Y:107.35, Z:0.71 [[ 1.79571317e-01 -9.83744636e-01 -7.96362042e-04 1.65948596e+02] [ 9.83735624e-01 1.79573081e-01 -4.21068831e-03 1.07348914e+02] [ 4.28524722e-03 -2.72908665e-05 9.99990818e-01 7.11198910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65862385300002 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:165.95, Y:107.37, Z:0.71 [[ 1.77808847e-01 -9.84064724e-01 -7.95148629e-04 1.65953423e+02] [ 9.84055715e-01 1.77810622e-01 -4.21091744e-03 1.07371957e+02] [ 4.28520118e-03 -3.37321792e-05 9.99990818e-01 7.10421757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68862385300002 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:165.96, Y:107.39, Z:0.71 [[ 1.76186899e-01 -9.84356412e-01 -7.93894692e-04 1.65958198e+02] [ 9.84347405e-01 1.76188684e-01 -4.21115383e-03 1.07394714e+02] [ 4.28515154e-03 -3.95180444e-05 9.99990818e-01 7.09690261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71862385300003 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:165.96, Y:107.42, Z:0.71 [[ 1.73992138e-01 -9.84746723e-01 -7.92650104e-04 1.65963318e+02] [ 9.84737718e-01 1.73993937e-01 -4.21138808e-03 1.07418784e+02] [ 4.28506692e-03 -4.78040387e-05 9.99990818e-01 7.08501459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74862385300003 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:165.97, Y:107.44, Z:0.71 [[ 1.73306573e-01 -9.84867608e-01 -7.91461326e-04 1.65968170e+02] [ 9.84858604e-01 1.73308373e-01 -4.21161148e-03 1.07443739e+02] [ 4.28504660e-03 -4.95775436e-05 9.99990818e-01 7.08169418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77862385300003 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:165.97, Y:107.47, Z:0.71 [[ 1.72879697e-01 -9.84942631e-01 -7.90338888e-04 1.65972724e+02] [ 9.84933627e-01 1.72881496e-01 -4.21182210e-03 1.07467994e+02] [ 4.28503811e-03 -5.02928176e-05 9.99990818e-01 7.07791101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80862385300003 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:165.98, Y:107.49, Z:0.71 [[ 1.73435728e-01 -9.84844874e-01 -7.89170168e-04 1.65976709e+02] [ 9.84835868e-01 1.73437517e-01 -4.21204108e-03 1.07491936e+02] [ 4.28507878e-03 -4.66846758e-05 9.99990818e-01 7.07446090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83862385300003 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:165.98, Y:107.52, Z:0.71 [[ 1.73155670e-01 -9.84894153e-01 -7.87973437e-04 1.65980972e+02] [ 9.84885147e-01 1.73157457e-01 -4.21226494e-03 1.07516722e+02] [ 4.28507859e-03 -4.66857760e-05 9.99990818e-01 7.07553840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86862385300003 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:165.98, Y:107.54, Z:0.71 [[ 1.73504752e-01 -9.84832718e-01 -7.86775560e-04 1.65984732e+02] [ 9.84823710e-01 1.73506530e-01 -4.21248867e-03 1.07541068e+02] [ 4.28510737e-03 -4.39484229e-05 9.99990818e-01 7.11969379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89862385300003 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:165.99, Y:107.56, Z:0.71 [[ 1.75127914e-01 -9.84545376e-01 -7.85565819e-04 1.65990430e+02] [ 9.84536363e-01 1.75129672e-01 -4.21271426e-03 1.07563976e+02] [ 4.28518423e-03 -3.56542526e-05 9.99990818e-01 7.09451307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.928623853 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:166.00, Y:107.59, Z:0.71 [[ 1.75708111e-01 -9.84441997e-01 -7.84313367e-04 1.65995211e+02] [ 9.84432982e-01 1.75709859e-01 -4.21294743e-03 1.07586902e+02] [ 4.28521397e-03 -3.18549124e-05 9.99990818e-01 7.10542996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.958623853 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:166.00, Y:107.61, Z:0.71 [[ 1.76436266e-01 -9.84311755e-01 -7.83076831e-04 1.65999921e+02] [ 9.84302738e-01 1.76438002e-01 -4.21317725e-03 1.07610989e+02] [ 4.28524441e-03 -2.74274050e-05 9.99990818e-01 7.11617800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.988623853 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:166.00, Y:107.64, Z:0.71 [[ 1.76810998e-01 -9.84244512e-01 -7.81891809e-04 1.66003881e+02] [ 9.84235494e-01 1.76812726e-01 -4.21339716e-03 1.07635563e+02] [ 4.28526145e-03 -2.45907118e-05 9.99990818e-01 7.12026544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.018623853 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:166.01, Y:107.66, Z:0.71 [[ 1.77103498e-01 -9.84191923e-01 -7.80671769e-04 1.66008520e+02] [ 9.84182903e-01 1.77105217e-01 -4.21362320e-03 1.07658944e+02] [ 4.28527497e-03 -2.20763997e-05 9.99990818e-01 7.10931487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.048623853 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:166.01, Y:107.68, Z:0.71 [[ 1.76676297e-01 -9.84268702e-01 -7.79407033e-04 1.66013513e+02] [ 9.84259682e-01 1.76678015e-01 -4.21385713e-03 1.07683554e+02] [ 4.28527178e-03 -2.26502434e-05 9.99990818e-01 7.09922217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.078623853 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:166.02, Y:107.71, Z:0.71 [[ 1.76437801e-01 -9.84311484e-01 -7.78221820e-04 1.66018323e+02] [ 9.84302463e-01 1.76439516e-01 -4.21407601e-03 1.07707008e+02] [ 4.28527249e-03 -2.24833515e-05 9.99990818e-01 7.08396870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.108623853 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:166.02, Y:107.73, Z:0.71 [[ 1.75637419e-01 -9.84454617e-01 -7.76990225e-04 1.66023648e+02] [ 9.84445597e-01 1.75639136e-01 -4.21430308e-03 1.07729620e+02] [ 4.28526001e-03 -2.47152890e-05 9.99990818e-01 7.05842689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.138623853 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:166.03, Y:107.75, Z:0.71 [[ 1.74734692e-01 -9.84615247e-01 -7.75884637e-04 1.66028340e+02] [ 9.84606228e-01 1.74736412e-01 -4.21450661e-03 1.07752965e+02] [ 4.28524277e-03 -2.75203307e-05 9.99990818e-01 7.05328352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.168623853 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:166.03, Y:107.78, Z:0.71 [[ 1.73122079e-01 -9.84900069e-01 -7.74674047e-04 1.66034431e+02] [ 9.84891051e-01 1.73123809e-01 -4.21472912e-03 1.07776823e+02] [ 4.28520152e-03 -3.33068691e-05 9.99990818e-01 7.06557035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19862385300002 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:166.04, Y:107.80, Z:0.71 [[ 1.72238924e-01 -9.85054899e-01 -7.73496549e-04 1.66039434e+02] [ 9.85045882e-01 1.72240657e-01 -4.21494521e-03 1.07801041e+02] [ 4.28517998e-03 -3.59519649e-05 9.99990818e-01 7.07580939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22862385300002 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:166.04, Y:107.83, Z:0.71 [[ 1.71753754e-01 -9.85139610e-01 -7.72319461e-04 1.66044880e+02] [ 9.85130593e-01 1.71755487e-01 -4.21516088e-03 1.07825263e+02] [ 4.28517205e-03 -3.68658235e-05 9.99990818e-01 7.08487712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25862385300002 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:166.05, Y:107.85, Z:0.71 [[ 1.71248631e-01 -9.85227543e-01 -7.71145444e-04 1.66049858e+02] [ 9.85218526e-01 1.71250363e-01 -4.21537565e-03 1.07849112e+02] [ 4.28516313e-03 -3.78694701e-05 9.99990818e-01 7.09505506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28862385300002 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:166.06, Y:107.87, Z:0.71 [[ 1.70749689e-01 -9.85314138e-01 -7.69929065e-04 1.66056352e+02] [ 9.85305121e-01 1.70751421e-01 -4.21559781e-03 1.07872494e+02] [ 4.28515460e-03 -3.88030357e-05 9.99990818e-01 7.09985314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31862385300002 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:166.06, Y:107.90, Z:0.71 [[ 1.70107497e-01 -9.85425212e-01 -7.68707263e-04 1.66061920e+02] [ 9.85416195e-01 1.70109229e-01 -4.21582059e-03 1.07896266e+02] [ 4.28514010e-03 -4.03538999e-05 9.99990818e-01 7.10188146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34862385300002 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:166.07, Y:107.92, Z:0.71 [[ 1.68362740e-01 -9.85724809e-01 -7.67484890e-04 1.66069223e+02] [ 9.85715794e-01 1.68364483e-01 -4.21604311e-03 1.07920438e+02] [ 4.28507548e-03 -4.66974059e-05 9.99990818e-01 7.10655162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37862385300002 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:166.08, Y:107.94, Z:0.71 [[ 1.67009131e-01 -9.85955051e-01 -7.66261577e-04 1.66075190e+02] [ 9.85946038e-01 1.67010881e-01 -4.21626543e-03 1.07944565e+02] [ 4.28502222e-03 -5.13377406e-05 9.99990818e-01 7.10609281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40862385300002 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:166.08, Y:107.97, Z:0.71 [[ 1.63998617e-01 -9.86460272e-01 -7.65037323e-04 1.66084108e+02] [ 9.86451263e-01 1.64000389e-01 -4.21648756e-03 1.07968383e+02] [ 4.28486388e-03 -6.31739045e-05 9.99990818e-01 7.11091873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43862385300002 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:166.09, Y:107.99, Z:0.71 [[ 1.62631187e-01 -9.86686634e-01 -7.63900364e-04 1.66090017e+02] [ 9.86677626e-01 1.62632967e-01 -4.21669353e-03 1.07991826e+02] [ 4.28479053e-03 -6.79575235e-05 9.99990818e-01 7.10854164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46862385300003 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:166.10, Y:108.02, Z:0.71 [[ 1.61481347e-01 -9.86875470e-01 -7.62714754e-04 1.66095704e+02] [ 9.86866463e-01 1.61483133e-01 -4.21690797e-03 1.08015805e+02] [ 4.28472861e-03 -7.17456294e-05 9.99990818e-01 7.11555223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49862385300003 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:166.10, Y:108.04, Z:0.71 [[ 1.59838575e-01 -9.87142872e-01 -7.61522519e-04 1.66103653e+02] [ 9.87133867e-01 1.59840370e-01 -4.21712327e-03 1.08039916e+02] [ 4.28462521e-03 -7.76656951e-05 9.99990818e-01 7.13723304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52862385300003 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:166.11, Y:108.06, Z:0.73 [[ 1.59488070e-01 -9.87199563e-01 -7.60389403e-04 1.66109435e+02] [ 9.87190558e-01 1.59489863e-01 -4.21732757e-03 1.08064262e+02] [ 4.28461834e-03 -7.80358059e-05 9.99990818e-01 7.25298900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55862385300003 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:166.12, Y:108.09, Z:0.72 [[ 1.59283706e-01 -9.87232559e-01 -7.59154944e-04 1.66116433e+02] [ 9.87223553e-01 1.59285496e-01 -4.21754977e-03 1.08088408e+02] [ 4.28462482e-03 -7.76686822e-05 9.99990818e-01 7.15206842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58862385300003 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:166.13, Y:108.11, Z:0.71 [[ 1.60392071e-01 -9.87053093e-01 -7.57919527e-04 1.66125440e+02] [ 9.87044084e-01 1.60393846e-01 -4.21777177e-03 1.08110701e+02] [ 4.28473030e-03 -7.16028347e-05 9.99990818e-01 7.14389483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61862385300003 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:166.13, Y:108.13, Z:0.71 [[ 1.61210582e-01 -9.86919741e-01 -7.56638542e-04 1.66132100e+02] [ 9.86910730e-01 1.61212344e-01 -4.21800156e-03 1.08133853e+02] [ 4.28480848e-03 -6.67482103e-05 9.99990818e-01 7.13742274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64862385300003 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:166.14, Y:108.16, Z:0.71 [[ 1.63819806e-01 -9.86489990e-01 -7.55411875e-04 1.66139772e+02] [ 9.86480973e-01 1.63821539e-01 -4.21822123e-03 1.08157915e+02] [ 4.28498576e-03 -5.41712558e-05 9.99990818e-01 7.13739705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.678623853 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:166.14, Y:108.18, Z:0.71 [[ 1.65294098e-01 -9.86244033e-01 -7.54278235e-04 1.66144598e+02] [ 9.86235012e-01 1.65295813e-01 -4.21842393e-03 1.08180782e+02] [ 4.28507447e-03 -4.66150238e-05 9.99990818e-01 7.12334958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.708623853 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:166.15, Y:108.20, Z:0.71 [[ 1.66737923e-01 -9.86000962e-01 -7.52992277e-04 1.66149794e+02] [ 9.85991938e-01 1.66739619e-01 -4.21865347e-03 1.08204969e+02] [ 4.28515002e-03 -3.90347969e-05 9.99990818e-01 7.13153229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.738623853 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:166.16, Y:108.23, Z:0.71 [[ 1.68202180e-01 -9.85752231e-01 -7.51753592e-04 1.66155495e+02] [ 9.85743204e-01 1.68203857e-01 -4.21887419e-03 1.08227984e+02] [ 4.28521250e-03 -3.14121580e-05 9.99990818e-01 7.12234052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.768623853 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:166.16, Y:108.25, Z:0.71 [[ 1.71115667e-01 -9.85250661e-01 -7.50468422e-04 1.66163504e+02] [ 9.85241628e-01 1.71117312e-01 -4.21910278e-03 1.08251902e+02] [ 4.28529195e-03 -1.74381434e-05 9.99990818e-01 7.11860276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.798623853 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:166.17, Y:108.27, Z:0.71 [[ 1.73207504e-01 -9.84885069e-01 -7.49239426e-04 1.66170189e+02] [ 9.84876031e-01 1.73209125e-01 -4.21932102e-03 1.08274551e+02] [ 4.28532138e-03 -7.08988816e-06 9.99990818e-01 7.12627207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.828623853 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:166.18, Y:108.30, Z:0.71 [[ 1.73778990e-01 -9.84784394e-01 -7.47963249e-04 1.66175871e+02] [ 9.84775354e-01 1.73780599e-01 -4.21954724e-03 1.08299001e+02] [ 4.28532577e-03 -3.30711784e-06 9.99990818e-01 7.13066203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.858623853 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:166.18, Y:108.32, Z:0.71 [[ 1.74296215e-01 -9.84692984e-01 -7.46767633e-04 1.66181181e+02] [ 9.84683942e-01 1.74297815e-01 -4.21975883e-03 1.08321720e+02] [ 4.28532687e-03 1.57895894e-07 9.99990818e-01 7.13462910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.888623853 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:166.19, Y:108.35, Z:0.72 [[ 1.75193738e-01 -9.84533696e-01 -7.45638417e-04 1.66187658e+02] [ 9.84524652e-01 1.75195325e-01 -4.21995835e-03 1.08345237e+02] [ 4.28532356e-03 5.21087360e-06 9.99990818e-01 7.15566366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.918623853 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:166.19, Y:108.37, Z:0.72 [[ 1.75481331e-01 -9.84482477e-01 -7.44416481e-04 1.66192187e+02] [ 9.84473432e-01 1.75482910e-01 -4.22017389e-03 1.08368755e+02] [ 4.28531962e-03 7.70348384e-06 9.99990818e-01 7.15845480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94862385300002 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:166.20, Y:108.39, Z:0.72 [[ 1.76059412e-01 -9.84379262e-01 -7.43148252e-04 1.66196741e+02] [ 9.84370215e-01 1.76060980e-01 -4.22039721e-03 1.08392998e+02] [ 4.28531090e-03 1.15076480e-05 9.99990818e-01 7.15607743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97862385300002 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:166.20, Y:108.42, Z:0.71 [[ 1.76769493e-01 -9.84251998e-01 -7.41937598e-04 1.66200974e+02] [ 9.84242949e-01 1.76771049e-01 -4.22061003e-03 1.08417025e+02] [ 4.28529694e-03 1.58282432e-05 9.99990818e-01 7.14973916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00862385300002 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:166.21, Y:108.44, Z:0.71 [[ 1.78329685e-01 -9.83970515e-01 -7.40719712e-04 1.66206699e+02] [ 9.83961463e-01 1.78331221e-01 -4.22082376e-03 1.08440469e+02] [ 4.28525958e-03 2.38585182e-05 9.99990818e-01 7.14337836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03862385300002 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:166.21, Y:108.46, Z:0.71 [[ 1.78625550e-01 -9.83916849e-01 -7.39462047e-04 1.66211317e+02] [ 9.83907795e-01 1.78627079e-01 -4.22104408e-03 1.08464467e+02] [ 4.28524434e-03 2.64238487e-05 9.99990818e-01 7.14601668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06862385300002 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:166.22, Y:108.49, Z:0.71 [[ 1.79249709e-01 -9.83803332e-01 -7.38274577e-04 1.66215354e+02] [ 9.83794277e-01 1.79251226e-01 -4.22125176e-03 1.08487839e+02] [ 4.28521818e-03 3.03478455e-05 9.99990818e-01 7.13715441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09862385300002 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:166.22, Y:108.51, Z:0.71 [[ 1.79003064e-01 -9.83848240e-01 -7.37040385e-04 1.66218622e+02] [ 9.83839184e-01 1.79004578e-01 -4.22146725e-03 1.08512432e+02] [ 4.28521672e-03 3.05263588e-05 9.99990818e-01 7.14295578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12862385300002 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:166.22, Y:108.54, Z:0.72 [[ 1.78683811e-01 -9.83906273e-01 -7.35855502e-04 1.66221835e+02] [ 9.83897217e-01 1.78685324e-01 -4.22167378e-03 1.08536107e+02] [ 4.28521789e-03 3.03385786e-05 9.99990818e-01 7.19122665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15862385300002 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:166.23, Y:108.56, Z:0.71 [[ 1.76959826e-01 -9.84217801e-01 -7.34626332e-04 1.66226340e+02] [ 9.84208747e-01 1.76961349e-01 -4.22188766e-03 1.08560423e+02] [ 4.28525745e-03 2.40788427e-05 9.99990818e-01 7.13527203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18862385300002 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:166.23, Y:108.58, Z:0.71 [[ 1.75656481e-01 -9.84451250e-01 -7.33454134e-04 1.66231005e+02] [ 9.84442196e-01 1.75658011e-01 -4.22209129e-03 1.08584824e+02] [ 4.28528014e-03 1.95945000e-05 9.99990818e-01 7.14006700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21862385300003 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:166.24, Y:108.61, Z:0.71 [[ 1.73963256e-01 -9.84751872e-01 -7.32271427e-04 1.66235474e+02] [ 9.84742820e-01 1.73964797e-01 -4.22229640e-03 1.08607711e+02] [ 4.28530374e-03 1.34254020e-05 9.99990818e-01 7.14510071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24862385300003 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:166.24, Y:108.63, Z:0.73 [[ 1.72761324e-01 -9.84963446e-01 -7.31043763e-04 1.66239982e+02] [ 9.84954395e-01 1.72762870e-01 -4.22250895e-03 1.08632424e+02] [ 4.28531419e-03 9.44146950e-06 9.99990818e-01 7.25298169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27862385300003 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:166.25, Y:108.66, Z:0.72 [[ 1.69678029e-01 -9.85499281e-01 -7.29859777e-04 1.66245485e+02] [ 9.85490235e-01 1.69679599e-01 -4.22271359e-03 1.08655673e+02] [ 4.28532353e-03 -2.76796255e-06 9.99990818e-01 7.16133353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30862385300003 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:166.25, Y:108.68, Z:0.72 [[ 1.68444484e-01 -9.85710873e-01 -7.28578212e-04 1.66249992e+02] [ 9.85701827e-01 1.68446059e-01 -4.22293470e-03 1.08679276e+02] [ 4.28531878e-03 -6.83081921e-06 9.99990818e-01 7.17069681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33862385300003 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:166.25, Y:108.70, Z:0.72 [[ 1.66258283e-01 -9.86081971e-01 -7.27364382e-04 1.66254525e+02] [ 9.86072928e-01 1.66259873e-01 -4.22314376e-03 1.08702774e+02] [ 4.28529744e-03 -1.51016963e-05 9.99990818e-01 7.17676677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36862385300003 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:166.26, Y:108.73, Z:0.72 [[ 1.65380453e-01 -9.86229577e-01 -7.26166279e-04 1.66258419e+02] [ 9.86220534e-01 1.65382046e-01 -4.22334976e-03 1.08725775e+02] [ 4.28528732e-03 -1.77006004e-05 9.99990818e-01 7.21138154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39862385300003 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:166.26, Y:108.75, Z:0.72 [[ 1.64105998e-01 -9.86442444e-01 -7.24975345e-04 1.66263912e+02] [ 9.86433403e-01 1.64107598e-01 -4.22355419e-03 1.08750340e+02] [ 4.28526708e-03 -2.20293226e-05 9.99990818e-01 7.19477945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.428623853 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:166.27, Y:108.77, Z:0.72 [[ 1.63279189e-01 -9.86579638e-01 -7.23840790e-04 1.66268368e+02] [ 9.86570597e-01 1.63280791e-01 -4.22374862e-03 1.08773642e+02] [ 4.28525368e-03 -2.44697932e-05 9.99990818e-01 7.19565319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.458623853 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:166.27, Y:108.80, Z:0.72 [[ 1.62758664e-01 -9.86665645e-01 -7.22667395e-04 1.66272996e+02] [ 9.86656604e-01 1.62760266e-01 -4.22394938e-03 1.08796677e+02] [ 4.28524727e-03 -2.55402017e-05 9.99990818e-01 7.18992496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.488623853 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:166.28, Y:108.82, Z:0.72 [[ 1.62289639e-01 -9.86742901e-01 -7.21445724e-04 1.66277768e+02] [ 9.86733860e-01 1.62291241e-01 -4.22415803e-03 1.08818598e+02] [ 4.28524227e-03 -2.63378420e-05 9.99990818e-01 7.19439523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.518623853 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:166.28, Y:108.84, Z:0.72 [[ 1.62290216e-01 -9.86742807e-01 -7.20186963e-04 1.66281520e+02] [ 9.86733765e-01 1.62291812e-01 -4.22437262e-03 1.08841008e+02] [ 4.28524975e-03 -2.50584495e-05 9.99990818e-01 7.19727027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.548623853 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:166.29, Y:108.87, Z:0.72 [[ 1.62497636e-01 -9.86708671e-01 -7.18935770e-04 1.66285752e+02] [ 9.86699628e-01 1.62499224e-01 -4.22458555e-03 1.08865809e+02] [ 4.28526170e-03 -2.28884931e-05 9.99990818e-01 7.20955731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.578623853 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:166.29, Y:108.89, Z:0.72 [[ 1.63963489e-01 -9.86466147e-01 -7.17730029e-04 1.66290301e+02] [ 9.86457100e-01 1.63965059e-01 -4.22479039e-03 1.08889462e+02] [ 4.28529534e-03 -1.52985114e-05 9.99990818e-01 7.17151020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.608623853 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:166.29, Y:108.91, Z:0.72 [[ 1.65034596e-01 -9.86287518e-01 -7.16479415e-04 1.66294047e+02] [ 9.86278469e-01 1.65036151e-01 -4.22500247e-03 1.08912617e+02] [ 4.28531220e-03 -9.37664453e-06 9.99990818e-01 7.16237435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.638623853 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:166.30, Y:108.94, Z:0.72 [[ 1.66292254e-01 -9.86076252e-01 -7.15287593e-04 1.66297512e+02] [ 9.86067200e-01 1.66293792e-01 -4.22520423e-03 1.08936493e+02] [ 4.28532144e-03 -2.70289958e-06 9.99990818e-01 7.15748431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.668623853 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:166.30, Y:108.96, Z:0.72 [[ 1.68949892e-01 -9.85624383e-01 -7.14104765e-04 1.66300021e+02] [ 9.85615326e-01 1.68951401e-01 -4.22540413e-03 1.08961087e+02] [ 4.28531034e-03 1.00489709e-05 9.99990818e-01 7.17104576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69862385300002 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:166.30, Y:108.99, Z:0.72 [[ 1.70054064e-01 -9.85434476e-01 -7.12913697e-04 1.66302946e+02] [ 9.85425417e-01 1.70055558e-01 -4.22560508e-03 1.08986095e+02] [ 4.28529187e-03 1.60580409e-05 9.99990818e-01 7.22869624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72862385300002 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:166.30, Y:109.01, Z:0.71 [[ 1.71198156e-01 -9.85236360e-01 -7.11733243e-04 1.66304987e+02] [ 9.85227298e-01 1.71199634e-01 -4.22580390e-03 1.09009938e+02] [ 4.28526412e-03 2.22308180e-05 9.99990818e-01 7.13903901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75862385300002 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:166.31, Y:109.03, Z:0.71 [[ 1.70928678e-01 -9.85283148e-01 -7.10578449e-04 1.66308570e+02] [ 9.85274085e-01 1.70930154e-01 -4.22599807e-03 1.09034011e+02] [ 4.28526397e-03 2.22297333e-05 9.99990818e-01 7.14008071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78862385300002 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:166.31, Y:109.06, Z:0.71 [[ 1.71058018e-01 -9.85260702e-01 -7.09422534e-04 1.66311313e+02] [ 9.85251639e-01 1.71059487e-01 -4.22619211e-03 1.09057631e+02] [ 4.28525446e-03 2.39643301e-05 9.99990818e-01 7.13722939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81862385300002 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:166.31, Y:109.08, Z:0.72 [[ 1.71110306e-01 -9.85251623e-01 -7.08269987e-04 1.66314193e+02] [ 9.85242559e-01 1.71111770e-01 -4.22638526e-03 1.09081647e+02] [ 4.28524627e-03 2.53603416e-05 9.99990818e-01 7.16720033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84862385300002 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:166.32, Y:109.11, Z:0.72 [[ 1.71005310e-01 -9.85269853e-01 -7.07044402e-04 1.66315104e+02] [ 9.85260788e-01 1.71006770e-01 -4.22659028e-03 1.09106283e+02] [ 4.28524136e-03 2.61462556e-05 9.99990818e-01 7.17661447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87862385300002 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:166.32, Y:109.13, Z:0.73 [[ 1.70730584e-01 -9.85317497e-01 -7.05847874e-04 1.66316974e+02] [ 9.85308431e-01 1.70732041e-01 -4.22679009e-03 1.09130916e+02] [ 4.28524108e-03 2.61644808e-05 9.99990818e-01 7.27626139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90862385300002 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:166.32, Y:109.16, Z:0.72 [[ 1.69987471e-01 -9.85445972e-01 -7.04649966e-04 1.66319546e+02] [ 9.85436906e-01 1.69988929e-01 -4.22698978e-03 1.09155988e+02] [ 4.28525275e-03 2.41472186e-05 9.99990818e-01 7.18726865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93862385300002 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:166.32, Y:109.18, Z:0.72 [[ 1.69129171e-01 -9.85593643e-01 -7.03510784e-04 1.66320668e+02] [ 9.85584578e-01 1.69130633e-01 -4.22717937e-03 1.09180155e+02] [ 4.28526634e-03 2.15699643e-05 9.99990818e-01 7.18008302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96862385300003 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:166.32, Y:109.20, Z:0.72 [[ 1.68420632e-01 -9.85714968e-01 -7.02222436e-04 1.66322641e+02] [ 9.85705903e-01 1.68422095e-01 -4.22739338e-03 1.09203933e+02] [ 4.28527471e-03 1.97954637e-05 9.99990818e-01 7.17452002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99862385300003 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:166.32, Y:109.23, Z:0.72 [[ 1.67097544e-01 -9.85940119e-01 -7.01099533e-04 1.66323889e+02] [ 9.85931056e-01 1.67099014e-01 -4.22757961e-03 1.09229099e+02] [ 4.28529338e-03 1.51823681e-05 9.99990818e-01 7.18410324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02862385300003 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:166.33, Y:109.25, Z:0.72 [[ 1.66127503e-01 -9.86104033e-01 -6.99920312e-04 1.66325943e+02] [ 9.86094970e-01 1.66128977e-01 -4.22777483e-03 1.09252470e+02] [ 4.28530285e-03 1.21617754e-05 9.99990818e-01 7.18910075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05862385300003 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:166.33, Y:109.28, Z:0.73 [[ 1.65049382e-01 -9.86285057e-01 -6.98702128e-04 1.66327496e+02] [ 9.86275995e-01 1.65050861e-01 -4.22797614e-03 1.09277164e+02] [ 4.28531108e-03 8.71171241e-06 9.99990818e-01 7.28338134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08862385300003 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:166.33, Y:109.30, Z:0.72 [[ 1.62652394e-01 -9.86683187e-01 -6.97520120e-04 1.66329358e+02] [ 9.86674128e-01 1.62653889e-01 -4.22817114e-03 1.09302242e+02] [ 4.28531974e-03 -5.02899805e-07 9.99990818e-01 7.18823116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11862385300003 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:166.33, Y:109.33, Z:0.72 [[ 1.61359111e-01 -9.86895512e-01 -6.96316638e-04 1.66331648e+02] [ 9.86886454e-01 1.61360614e-01 -4.22836932e-03 1.09325576e+02] [ 4.28531679e-03 -4.89954100e-06 9.99990818e-01 7.17939072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14862385300003 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:166.33, Y:109.35, Z:0.72 [[ 1.60119282e-01 -9.87097428e-01 -6.95069736e-04 1.66334089e+02] [ 9.87088371e-01 1.60120791e-01 -4.22857428e-03 1.09350441e+02] [ 4.28530991e-03 -9.01897402e-06 9.99990818e-01 7.18635975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.178623853 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:166.33, Y:109.37, Z:0.72 [[ 1.57779903e-01 -9.87474061e-01 -6.93847562e-04 1.66334742e+02] [ 9.87465006e-01 1.57781428e-01 -4.22877481e-03 1.09374559e+02] [ 4.28528170e-03 -1.79345073e-05 9.99990818e-01 7.17098644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.208623853 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:166.34, Y:109.40, Z:0.72 [[ 1.56386220e-01 -9.87695738e-01 -6.92581770e-04 1.66336851e+02] [ 9.87686685e-01 1.56387752e-01 -4.22898211e-03 1.09397903e+02] [ 4.28525892e-03 -2.26992660e-05 9.99990818e-01 7.15952090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.238623853 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:166.34, Y:109.42, Z:0.73 [[ 1.54190135e-01 -9.88040953e-01 -6.91345322e-04 1.66337254e+02] [ 9.88031902e-01 1.54191682e-01 -4.22918424e-03 1.09422443e+02] [ 4.28520692e-03 -3.09727459e-05 9.99990818e-01 7.27799277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.268623853 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:166.34, Y:109.45, Z:0.72 [[ 1.53022134e-01 -9.88222521e-01 -6.90153431e-04 1.66340178e+02] [ 9.88213471e-01 1.53023686e-01 -4.22937873e-03 1.09447454e+02] [ 4.28517713e-03 -3.48303585e-05 9.99990818e-01 7.18414059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.298623853 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:166.34, Y:109.47, Z:0.72 [[ 1.52148111e-01 -9.88357465e-01 -6.88965162e-04 1.66342315e+02] [ 9.88348415e-01 1.52149666e-01 -4.22957229e-03 1.09472478e+02] [ 4.28515516e-03 -3.74161926e-05 9.99990818e-01 7.18918809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.328623853 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:166.34, Y:109.50, Z:0.73 [[ 1.50853044e-01 -9.88555960e-01 -6.87765385e-04 1.66342145e+02] [ 9.88546912e-01 1.50854606e-01 -4.22976738e-03 1.09497126e+02] [ 4.28511432e-03 -4.18150627e-05 9.99990818e-01 7.27816570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.358623853 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:166.35, Y:109.52, Z:0.72 [[ 1.50164542e-01 -9.88660781e-01 -6.86571778e-04 1.66345149e+02] [ 9.88651733e-01 1.50166106e-01 -4.22996111e-03 1.09521804e+02] [ 4.28509646e-03 -4.35902034e-05 9.99990818e-01 7.20495562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.388623853 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:166.35, Y:109.55, Z:0.72 [[ 1.49388483e-01 -9.88778343e-01 -6.85368032e-04 1.66346916e+02] [ 9.88769295e-01 1.49390048e-01 -4.23015614e-03 1.09545681e+02] [ 4.28507394e-03 -4.57342564e-05 9.99990818e-01 7.20828053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.418623853 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:166.35, Y:109.57, Z:0.72 [[ 1.48507168e-01 -9.88911095e-01 -6.84121471e-04 1.66346671e+02] [ 9.88902047e-01 1.48508736e-01 -4.23035773e-03 1.09569356e+02] [ 4.28504571e-03 -4.82906778e-05 9.99990818e-01 7.20620889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44862385300002 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:166.35, Y:109.59, Z:0.72 [[ 1.47908685e-01 -9.89000786e-01 -6.82898236e-04 1.66349003e+02] [ 9.88991739e-01 1.47910253e-01 -4.23055519e-03 1.09594408e+02] [ 4.28503006e-03 -4.96448599e-05 9.99990818e-01 7.21097774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47862385300002 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:166.35, Y:109.62, Z:0.72 [[ 1.46862074e-01 -9.89156745e-01 -6.81725476e-04 1.66351848e+02] [ 9.89147699e-01 1.46863647e-01 -4.23074416e-03 1.09618279e+02] [ 4.28498981e-03 -5.29913216e-05 9.99990818e-01 7.20912722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50862385300002 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:166.35, Y:109.64, Z:0.72 [[ 1.45494620e-01 -9.89358809e-01 -6.80510473e-04 1.66354120e+02] [ 9.89349764e-01 1.45496200e-01 -4.23093958e-03 1.09642698e+02] [ 4.28492903e-03 -5.76839292e-05 9.99990818e-01 7.22790712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53862385300002 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:166.36, Y:109.67, Z:0.72 [[ 1.44390048e-01 -9.89520618e-01 -6.79305112e-04 1.66355840e+02] [ 9.89511573e-01 1.44391633e-01 -4.23113310e-03 1.09666971e+02] [ 4.28487942e-03 -6.12467574e-05 9.99990818e-01 7.23930319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56862385300002 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:166.36, Y:109.69, Z:0.72 [[ 1.42644169e-01 -9.89773803e-01 -6.78053144e-04 1.66357222e+02] [ 9.89764761e-01 1.42645764e-01 -4.23133373e-03 1.09690762e+02] [ 4.28478468e-03 -6.75380267e-05 9.99990818e-01 7.22942833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59862385300002 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:166.36, Y:109.71, Z:0.72 [[ 1.41495296e-01 -9.89938697e-01 -6.76758710e-04 1.66360490e+02] [ 9.89929655e-01 1.41496897e-01 -4.23154075e-03 1.09714722e+02] [ 4.28472519e-03 -7.12004040e-05 9.99990818e-01 7.22892542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62862385300002 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:166.36, Y:109.74, Z:0.72 [[ 1.40190462e-01 -9.90124325e-01 -6.75537675e-04 1.66363410e+02] [ 9.90115284e-01 1.40192070e-01 -4.23173567e-03 1.09739461e+02] [ 4.28464945e-03 -7.56111969e-05 9.99990818e-01 7.22554495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65862385300002 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:166.37, Y:109.76, Z:0.72 [[ 1.39017298e-01 -9.90289723e-01 -6.74319939e-04 1.66366486e+02] [ 9.90280684e-01 1.39018911e-01 -4.23192970e-03 1.09764297e+02] [ 4.28457972e-03 -7.94545761e-05 9.99990818e-01 7.22784149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68862385300002 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:166.37, Y:109.79, Z:0.72 [[ 1.36834604e-01 -9.90593680e-01 -6.73088869e-04 1.66369271e+02] [ 9.90584643e-01 1.36836231e-01 -4.23212550e-03 1.09787702e+02] [ 4.28441971e-03 -8.76502817e-05 9.99990818e-01 7.21953067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71862385300003 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:166.37, Y:109.81, Z:0.72 [[ 1.35903836e-01 -9.90721806e-01 -6.71816255e-04 1.66372555e+02] [ 9.90712769e-01 1.35905467e-01 -4.23232750e-03 1.09811645e+02] [ 4.28436265e-03 -9.03873975e-05 9.99990818e-01 7.22263598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74862385300003 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:166.38, Y:109.84, Z:0.72 [[ 1.35094577e-01 -9.90832481e-01 -6.70632796e-04 1.66375691e+02] [ 9.90823445e-01 1.35096209e-01 -4.23251502e-03 1.09836127e+02] [ 4.28431331e-03 -9.26888725e-05 9.99990818e-01 7.22780578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77862385300003 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:166.38, Y:109.86, Z:0.72 [[ 1.34766776e-01 -9.90877121e-01 -6.69424191e-04 1.66379122e+02] [ 9.90868085e-01 1.34768406e-01 -4.23270617e-03 1.09859181e+02] [ 4.28430893e-03 -9.28829035e-05 9.99990818e-01 7.21590805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80862385300003 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:166.38, Y:109.88, Z:0.73 [[ 1.34051055e-01 -9.90974202e-01 -6.68169227e-04 1.66382102e+02] [ 9.90965166e-01 1.34052687e-01 -4.23290427e-03 1.09883309e+02] [ 4.28426881e-03 -9.47071451e-05 9.99990818e-01 7.29382986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83862385300003 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:166.39, Y:109.91, Z:0.72 [[ 1.33223310e-01 -9.91085821e-01 -6.66995247e-04 1.66386347e+02] [ 9.91076786e-01 1.33224944e-01 -4.23308925e-03 1.09906912e+02] [ 4.28421514e-03 -9.70973440e-05 9.99990818e-01 7.20909093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86862385300003 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:166.39, Y:109.93, Z:0.72 [[ 1.32511700e-01 -9.91181218e-01 -6.65779815e-04 1.66389657e+02] [ 9.91172182e-01 1.32513336e-01 -4.23328040e-03 1.09931532e+02] [ 4.28417273e-03 -9.89432480e-05 9.99990818e-01 7.22175707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89862385300003 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:166.39, Y:109.96, Z:0.72 [[ 1.31729409e-01 -9.91285489e-01 -6.64609400e-04 1.66392942e+02] [ 9.91276454e-01 1.31731047e-01 -4.23346414e-03 1.09955474e+02] [ 4.28412127e-03 -1.01139919e-04 9.99990818e-01 7.23058161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.928623853 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:166.40, Y:109.98, Z:0.72 [[ 1.30020816e-01 -9.91511042e-01 -6.63427492e-04 1.66397639e+02] [ 9.91502010e-01 1.30022464e-01 -4.23364935e-03 1.09978347e+02] [ 4.28397056e-03 -1.07327148e-04 9.99990818e-01 7.22936069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.958623853 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:166.40, Y:110.00, Z:0.72 [[ 1.28668054e-01 -9.91687498e-01 -6.62199212e-04 1.66402808e+02] [ 9.91678466e-01 1.28669709e-01 -4.23384146e-03 1.10002010e+02] [ 4.28385263e-03 -1.11928558e-04 9.99990818e-01 7.22396209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.988623853 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:166.41, Y:110.03, Z:0.72 [[ 1.26047372e-01 -9.92024003e-01 -6.61029902e-04 1.66409436e+02] [ 9.92014975e-01 1.26049046e-01 -4.23402402e-03 1.10025974e+02] [ 4.28357565e-03 -1.22063962e-04 9.99990818e-01 7.22390302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.018623853 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:166.41, Y:110.05, Z:0.72 [[ 1.24670688e-01 -9.92197956e-01 -6.59855041e-04 1.66414251e+02] [ 9.92188929e-01 1.24672370e-01 -4.23420711e-03 1.10049990e+02] [ 4.28343733e-03 -1.26819351e-04 9.99990818e-01 7.23258925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.048623853 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:166.42, Y:110.07, Z:0.72 [[ 1.23931148e-01 -9.92290601e-01 -6.58623937e-04 1.66419329e+02] [ 9.92281575e-01 1.23932831e-01 -4.23439860e-03 1.10073256e+02] [ 4.28337906e-03 -1.28766518e-04 9.99990818e-01 7.22105092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.078623853 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:166.43, Y:110.10, Z:0.72 [[ 1.23547736e-01 -9.92338412e-01 -6.57349737e-04 1.66425825e+02] [ 9.92329386e-01 1.23549418e-01 -4.23459640e-03 1.10097506e+02] [ 4.28336784e-03 -1.29132663e-04 9.99990818e-01 7.24950944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.108623853 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:166.43, Y:110.12, Z:0.72 [[ 1.23712629e-01 -9.92317870e-01 -6.56101713e-04 1.66430844e+02] [ 9.92308842e-01 1.23714304e-01 -4.23478975e-03 1.10120899e+02] [ 4.28342671e-03 -1.27158556e-04 9.99990818e-01 7.24093892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.138623853 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:166.44, Y:110.14, Z:0.72 [[ 1.23733918e-01 -9.92315216e-01 -6.54811050e-04 1.66435987e+02] [ 9.92306187e-01 1.23735587e-01 -4.23498931e-03 1.10143688e+02] [ 4.28346777e-03 -1.25761235e-04 9.99990818e-01 7.24448595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.168623853 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:166.44, Y:110.17, Z:0.72 [[ 1.23814956e-01 -9.92305109e-01 -6.53603310e-04 1.66443958e+02] [ 9.92296079e-01 1.23816619e-01 -4.23517570e-03 1.10167122e+02] [ 4.28351344e-03 -1.24189909e-04 9.99990818e-01 7.24693363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19862385300002 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:166.45, Y:110.19, Z:0.73 [[ 1.23710328e-01 -9.92318159e-01 -6.52457259e-04 1.66449637e+02] [ 9.92309128e-01 1.23711987e-01 -4.23535225e-03 1.10190368e+02] [ 4.28353373e-03 -1.23482478e-04 9.99990818e-01 7.25019997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22862385300002 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:166.46, Y:110.21, Z:0.73 [[ 1.24405756e-01 -9.92231215e-01 -6.51379147e-04 1.66458155e+02] [ 9.92222182e-01 1.24407404e-01 -4.23551805e-03 1.10213953e+02] [ 4.28364961e-03 -1.19390012e-04 9.99990818e-01 7.28365494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25862385300002 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:166.46, Y:110.24, Z:0.73 [[ 1.25194612e-01 -9.92131990e-01 -6.50156348e-04 1.66463644e+02] [ 9.92122955e-01 1.25196247e-01 -4.23570575e-03 1.10237414e+02] [ 4.28377631e-03 -1.14747501e-04 9.99990818e-01 7.28820259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28862385300002 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:166.47, Y:110.26, Z:0.73 [[ 1.26285263e-01 -9.91993756e-01 -6.48887854e-04 1.66468583e+02] [ 9.91984718e-01 1.26286883e-01 -4.23590006e-03 1.10260282e+02] [ 4.28393244e-03 -1.08755081e-04 9.99990818e-01 7.28633918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31862385300002 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:166.48, Y:110.28, Z:0.73 [[ 1.29526274e-01 -9.91575779e-01 -6.47628261e-04 1.66476121e+02] [ 9.91566735e-01 1.29527860e-01 -4.23609263e-03 1.10283838e+02] [ 4.28429276e-03 -9.34813437e-05 9.99990818e-01 7.28510689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34862385300002 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:166.48, Y:110.31, Z:0.73 [[ 1.31494541e-01 -9.91316684e-01 -6.46417895e-04 1.66482033e+02] [ 9.91307636e-01 1.31496104e-01 -4.23627733e-03 1.10306941e+02] [ 4.28449383e-03 -8.37516505e-05 9.99990818e-01 7.27200088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37862385300002 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:166.49, Y:110.33, Z:0.73 [[ 1.36201853e-01 -9.90680897e-01 -6.45280722e-04 1.66489768e+02] [ 9.90671840e-01 1.36203368e-01 -4.23645054e-03 1.10330605e+02] [ 4.28486002e-03 -6.22490263e-05 9.99990818e-01 7.25168822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40862385300002 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:166.49, Y:110.35, Z:0.72 [[ 1.38600058e-01 -9.90348226e-01 -6.44089752e-04 1.66494987e+02] [ 9.90339165e-01 1.38601545e-01 -4.23663160e-03 1.10353918e+02] [ 4.28501242e-03 -5.06699217e-05 9.99990818e-01 7.24097441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43862385300002 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:166.50, Y:110.38, Z:0.72 [[ 1.41174628e-01 -9.89984501e-01 -6.42852933e-04 1.66499989e+02] [ 9.89975435e-01 1.41176086e-01 -4.23681926e-03 1.10378238e+02] [ 4.28514086e-03 -3.82772297e-05 9.99990818e-01 7.24671055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46862385300003 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:166.50, Y:110.40, Z:0.72 [[ 1.43735885e-01 -9.89615877e-01 -6.41662577e-04 1.66504677e+02] [ 9.89606807e-01 1.43737315e-01 -4.23699953e-03 1.10402928e+02] [ 4.28523286e-03 -2.59847765e-05 9.99990818e-01 7.24828304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49862385300003 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:166.51, Y:110.43, Z:0.73 [[ 1.48806122e-01 -9.88866183e-01 -6.40475464e-04 1.66510141e+02] [ 9.88857105e-01 1.48807500e-01 -4.23717897e-03 1.10425879e+02] [ 4.28531055e-03 -2.82054267e-06 9.99990818e-01 7.25078146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52862385300003 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:166.51, Y:110.45, Z:0.73 [[ 1.51195826e-01 -9.88503623e-01 -6.39241787e-04 1.66514818e+02] [ 9.88494541e-01 1.51197177e-01 -4.23736508e-03 1.10450079e+02] [ 4.28530229e-03 8.78489785e-06 9.99990818e-01 7.26174422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55862385300003 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:166.52, Y:110.47, Z:0.73 [[ 1.55793872e-01 -9.87789382e-01 -6.38070939e-04 1.66519846e+02] [ 9.87780293e-01 1.55795176e-01 -4.23754138e-03 1.10474347e+02] [ 4.28520676e-03 2.99090827e-05 9.99990818e-01 7.28927666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58862385300003 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:166.52, Y:110.50, Z:0.73 [[ 1.57876914e-01 -9.87458594e-01 -6.36875866e-04 1.66523957e+02] [ 9.87449501e-01 1.57878193e-01 -4.23772099e-03 1.10498139e+02] [ 4.28512282e-03 4.01555552e-05 9.99990818e-01 7.29148906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61862385300003 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:166.53, Y:110.52, Z:0.73 [[ 1.62223966e-01 -9.86753759e-01 -6.35637974e-04 1.66528136e+02] [ 9.86744660e-01 1.62225200e-01 -4.23790666e-03 1.10521529e+02] [ 4.28488682e-03 6.02776467e-05 9.99990818e-01 7.28905232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64862385300003 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:166.53, Y:110.55, Z:0.73 [[ 1.61959360e-01 -9.86797225e-01 -6.34437771e-04 1.66531485e+02] [ 9.86788126e-01 1.61960591e-01 -4.23808633e-03 1.10546479e+02] [ 4.28488574e-03 6.03420879e-05 9.99990818e-01 7.29012974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.678623853 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:166.53, Y:110.57, Z:0.73 [[ 1.63710692e-01 -9.86508190e-01 -6.33301263e-04 1.66534876e+02] [ 9.86499088e-01 1.63711902e-01 -4.23825615e-03 1.10571298e+02] [ 4.28475335e-03 6.90967280e-05 9.99990818e-01 7.29546348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.708623853 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:166.54, Y:110.60, Z:0.73 [[ 1.65174678e-01 -9.86264126e-01 -6.32107890e-04 1.66537978e+02] [ 9.86255022e-01 1.65175870e-01 -4.23843412e-03 1.10595882e+02] [ 4.28462450e-03 7.66624130e-05 9.99990818e-01 7.29664467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.738623853 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:166.54, Y:110.62, Z:0.73 [[ 1.66352337e-01 -9.86066175e-01 -6.30918254e-04 1.66540693e+02] [ 9.86057069e-01 1.66353512e-01 -4.23861120e-03 1.10619821e+02] [ 4.28450660e-03 8.29814740e-05 9.99990818e-01 7.29047249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.768623853 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:166.54, Y:110.64, Z:0.73 [[ 1.68333216e-01 -9.85729949e-01 -6.29688040e-04 1.66542621e+02] [ 9.85720839e-01 1.68334368e-01 -4.23879395e-03 1.10644363e+02] [ 4.28430429e-03 9.28331966e-05 9.99990818e-01 7.30043145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.798623853 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:166.55, Y:110.67, Z:0.73 [[ 1.68739291e-01 -9.85660518e-01 -6.28509776e-04 1.66545261e+02] [ 9.85651407e-01 1.68740434e-01 -4.23896866e-03 1.10668097e+02] [ 4.28423905e-03 9.57890198e-05 9.99990818e-01 7.30755928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.828623853 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:166.55, Y:110.69, Z:0.73 [[ 1.68845550e-01 -9.85642322e-01 -6.27293970e-04 1.66547458e+02] [ 9.85633211e-01 1.68846687e-01 -4.23914857e-03 1.10691640e+02] [ 4.28420074e-03 9.74796002e-05 9.99990818e-01 7.30572469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.858623853 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:166.55, Y:110.72, Z:0.73 [[ 1.68494701e-01 -9.85702361e-01 -6.26084805e-04 1.66548490e+02] [ 9.85693249e-01 1.68495836e-01 -4.23932714e-03 1.10715370e+02] [ 4.28420745e-03 9.71765935e-05 9.99990818e-01 7.32406032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.888623853 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:166.55, Y:110.74, Z:0.73 [[ 1.67818138e-01 -9.85817773e-01 -6.24921899e-04 1.66550374e+02] [ 9.85808662e-01 1.67819275e-01 -4.23949856e-03 1.10738065e+02] [ 4.28424697e-03 9.54113346e-05 9.99990818e-01 7.33320633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.918623853 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:166.55, Y:110.76, Z:0.73 [[ 1.66173595e-01 -9.86096318e-01 -6.23679526e-04 1.66551284e+02] [ 9.86087207e-01 1.66174741e-01 -4.23968132e-03 1.10763140e+02] [ 4.28437392e-03 8.95206840e-05 9.99990818e-01 7.34331090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94862385300002 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:166.55, Y:110.79, Z:0.73 [[ 1.65035376e-01 -9.86287452e-01 -6.22538157e-04 1.66553003e+02] [ 9.86278342e-01 1.65036527e-01 -4.23984891e-03 1.10787822e+02] [ 4.28445131e-03 8.57291550e-05 9.99990818e-01 7.34345018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97862385300002 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:166.55, Y:110.81, Z:0.73 [[ 1.63954716e-01 -9.86467671e-01 -6.21392817e-04 1.66554791e+02] [ 9.86458562e-01 1.63955873e-01 -4.24001676e-03 1.10812455e+02] [ 4.28452046e-03 8.21924795e-05 9.99990818e-01 7.33881896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00862385300002 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:166.55, Y:110.84, Z:0.73 [[ 1.61226424e-01 -9.86917249e-01 -6.20248195e-04 1.66554563e+02] [ 9.86908142e-01 1.61227602e-01 -4.24018419e-03 1.10836699e+02] [ 4.28471205e-03 7.15017425e-05 9.99990818e-01 7.31173622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03862385300002 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:166.56, Y:110.86, Z:0.73 [[ 1.59427499e-01 -9.87209446e-01 -6.19173510e-04 1.66555682e+02] [ 9.87200341e-01 1.59428688e-01 -4.24034112e-03 1.10860778e+02] [ 4.28481883e-03 6.47786771e-05 9.99990818e-01 7.29948193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06862385300002 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:166.55, Y:110.89, Z:0.73 [[ 1.56392811e-01 -9.87694744e-01 -6.18002785e-04 1.66554774e+02] [ 9.87685642e-01 1.56394023e-01 -4.24051174e-03 1.10885564e+02] [ 4.28498310e-03 5.27930749e-05 9.99990818e-01 7.28690799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09862385300002 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:166.56, Y:110.91, Z:0.73 [[ 1.54925669e-01 -9.87925937e-01 -6.16926785e-04 1.66556097e+02] [ 9.87916836e-01 1.54926890e-01 -4.24066827e-03 1.10908985e+02] [ 4.28504473e-03 4.75160131e-05 9.99990818e-01 7.26856490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12862385300002 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:166.56, Y:110.93, Z:0.74 [[ 1.52976553e-01 -9.88229627e-01 -6.15756956e-04 1.66556802e+02] [ 9.88220528e-01 1.52977787e-01 -4.24083813e-03 1.10933553e+02] [ 4.28511902e-03 4.02451362e-05 9.99990818e-01 7.36494886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15862385300002 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:166.56, Y:110.96, Z:0.73 [[ 1.51547243e-01 -9.88449824e-01 -6.14632929e-04 1.66559170e+02] [ 9.88440727e-01 1.51548485e-01 -4.24100103e-03 1.10956349e+02] [ 4.28516341e-03 3.51837952e-05 9.99990818e-01 7.28676325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18862385300002 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:166.56, Y:110.98, Z:0.73 [[ 1.48012614e-01 -9.88985283e-01 -6.13375205e-04 1.66559447e+02] [ 9.88976189e-01 1.48013883e-01 -4.24118293e-03 1.10980972e+02] [ 4.28525554e-03 2.11350985e-05 9.99990818e-01 7.31351897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21862385300003 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:166.56, Y:111.01, Z:0.73 [[ 1.46093698e-01 -9.89270568e-01 -6.12228934e-04 1.66561068e+02] [ 9.89261476e-01 1.46094980e-01 -4.24134839e-03 1.11005344e+02] [ 4.28528470e-03 1.39797714e-05 9.99990818e-01 7.31720815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24862385300003 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:166.56, Y:111.03, Z:0.73 [[ 1.42156999e-01 -9.89843934e-01 -6.11025225e-04 1.66561613e+02] [ 9.89834847e-01 1.42158312e-01 -4.24152179e-03 1.11030313e+02] [ 4.28530693e-03 -1.85205017e-06 9.99990818e-01 7.32435693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27862385300003 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:166.56, Y:111.05, Z:0.73 [[ 1.40137339e-01 -9.90131887e-01 -6.09768740e-04 1.66563571e+02] [ 9.90122802e-01 1.40138666e-01 -4.24170242e-03 1.11054138e+02] [ 4.28529700e-03 -9.32504135e-06 9.99990818e-01 7.30450069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30862385300003 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:166.56, Y:111.08, Z:0.73 [[ 1.37633451e-01 -9.90483045e-01 -6.08589194e-04 1.66564915e+02] [ 9.90473962e-01 1.37634796e-01 -4.24187165e-03 1.11077815e+02] [ 4.28526500e-03 -1.89683143e-05 9.99990818e-01 7.29630555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33862385300003 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:166.57, Y:111.10, Z:0.73 [[ 1.36636914e-01 -9.90621010e-01 -6.07398997e-04 1.66567278e+02] [ 9.90611927e-01 1.36638262e-01 -4.24204207e-03 1.11102214e+02] [ 4.28524994e-03 -2.20771559e-05 9.99990818e-01 7.29762400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36862385300003 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:166.57, Y:111.13, Z:0.73 [[ 1.36153610e-01 -9.90687553e-01 -6.06203248e-04 1.66569528e+02] [ 9.90678470e-01 1.36154957e-01 -4.24221294e-03 1.11125332e+02] [ 4.28524513e-03 -2.29599009e-05 9.99990818e-01 7.28137066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39862385300003 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:166.57, Y:111.15, Z:0.73 [[ 1.37084865e-01 -9.90559122e-01 -6.04962337e-04 1.66570406e+02] [ 9.90550037e-01 1.37086199e-01 -4.24238989e-03 1.11150453e+02] [ 4.28526999e-03 -1.76780179e-05 9.99990818e-01 7.27948031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.428623853 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:166.57, Y:111.17, Z:0.73 [[ 1.38093088e-01 -9.90419070e-01 -6.03739300e-04 1.66572136e+02] [ 9.90409984e-01 1.38094407e-01 -4.24256394e-03 1.11174283e+02] [ 4.28528925e-03 -1.20806763e-05 9.99990818e-01 7.27453202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.458623853 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:166.57, Y:111.20, Z:0.73 [[ 1.41664078e-01 -9.89914605e-01 -6.02474018e-04 1.66571908e+02] [ 9.89905513e-01 1.41665359e-01 -4.24274361e-03 1.11199129e+02] [ 4.28530356e-03 4.65201085e-06 9.99990818e-01 7.28351670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.488623853 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:166.57, Y:111.22, Z:0.73 [[ 1.43901459e-01 -9.89591839e-01 -6.01294659e-04 1.66573019e+02] [ 9.89582744e-01 1.43902714e-01 -4.24291075e-03 1.11223204e+02] [ 4.28527778e-03 1.55302279e-05 9.99990818e-01 7.26767814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.518623853 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:166.57, Y:111.25, Z:0.73 [[ 1.45989808e-01 -9.89285912e-01 -6.00071045e-04 1.66573991e+02] [ 9.89276813e-01 1.45991039e-01 -4.24308379e-03 1.11247972e+02] [ 4.28522802e-03 2.58106168e-05 9.99990818e-01 7.29723443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.548623853 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:166.57, Y:111.27, Z:0.73 [[ 1.50159093e-01 -9.88661665e-01 -5.98878693e-04 1.66572694e+02] [ 9.88652560e-01 1.50160280e-01 -4.24325208e-03 1.11272805e+02] [ 4.28506846e-03 4.50799289e-05 9.99990818e-01 7.32844162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.578623853 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:166.57, Y:111.30, Z:0.73 [[ 1.51734647e-01 -9.88421084e-01 -5.97662357e-04 1.66573424e+02] [ 9.88411977e-01 1.51735815e-01 -4.24342339e-03 1.11296181e+02] [ 4.28497593e-03 5.31377204e-05 9.99990818e-01 7.33546423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.608623853 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:166.57, Y:111.32, Z:0.73 [[ 1.53847243e-01 -9.88094464e-01 -5.96404842e-04 1.66571972e+02] [ 9.88085354e-01 1.53848386e-01 -4.24360013e-03 1.11320616e+02] [ 4.28483371e-03 6.35672927e-05 9.99990818e-01 7.34133587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.638623853 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:166.57, Y:111.35, Z:0.73 [[ 1.54252165e-01 -9.88031333e-01 -5.95175364e-04 1.66572763e+02] [ 9.88022222e-01 1.54253299e-01 -4.24377256e-03 1.11345310e+02] [ 4.28478802e-03 6.65646201e-05 9.99990818e-01 7.34197319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.668623853 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:166.57, Y:111.37, Z:0.73 [[ 1.54482147e-01 -9.87995402e-01 -5.93989423e-04 1.66573157e+02] [ 9.87986289e-01 1.54483274e-01 -4.24393854e-03 1.11369415e+02] [ 4.28475319e-03 6.87593333e-05 9.99990818e-01 7.33067875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69862385300002 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:166.57, Y:111.39, Z:0.73 [[ 1.54608966e-01 -9.87975565e-01 -5.92760935e-04 1.66571089e+02] [ 9.87966451e-01 1.54610086e-01 -4.24411012e-03 1.11393932e+02] [ 4.28472391e-03 7.05495585e-05 9.99990818e-01 7.30604577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72862385300002 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:166.57, Y:111.42, Z:0.74 [[ 1.53841082e-01 -9.88095426e-01 -5.91565982e-04 1.66571046e+02] [ 9.88086313e-01 1.53842204e-01 -4.24427667e-03 1.11418626e+02] [ 4.28475818e-03 6.84258645e-05 9.99990818e-01 7.41621106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75862385300002 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:166.57, Y:111.44, Z:0.73 [[ 1.53558338e-01 -9.88139407e-01 -5.90352674e-04 1.66572696e+02] [ 9.88130294e-01 1.53559457e-01 -4.24444543e-03 1.11443761e+02] [ 4.28475803e-03 6.84246224e-05 9.99990818e-01 7.33078250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78862385300002 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:166.57, Y:111.47, Z:0.74 [[ 1.51462194e-01 -9.88462876e-01 -5.89139926e-04 1.66568847e+02] [ 9.88453764e-01 1.51463328e-01 -4.24461376e-03 1.11467683e+02] [ 4.28487621e-03 6.05609357e-05 9.99990818e-01 7.41766412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81862385300002 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:166.57, Y:111.49, Z:0.73 [[ 1.50432513e-01 -9.88620106e-01 -5.87888243e-04 1.66569912e+02] [ 9.88610995e-01 1.50433650e-01 -4.24478711e-03 1.11492183e+02] [ 4.28492006e-03 5.73612097e-05 9.99990818e-01 7.33343462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84862385300002 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:166.57, Y:111.52, Z:0.73 [[ 1.47844664e-01 -9.89010420e-01 -5.86678945e-04 1.66567870e+02] [ 9.89001311e-01 1.47845821e-01 -4.24495424e-03 1.11516351e+02] [ 4.28504201e-03 4.73675901e-05 9.99990818e-01 7.32301696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87862385300002 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:166.57, Y:111.54, Z:0.73 [[ 1.46157247e-01 -9.89261197e-01 -5.85542442e-04 1.66568763e+02] [ 9.89252090e-01 1.46158414e-01 -4.24511100e-03 1.11540154e+02] [ 4.28510555e-03 4.12046526e-05 9.99990818e-01 7.30895525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90862385300002 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:166.57, Y:111.56, Z:0.73 [[ 1.44168684e-01 -9.89552954e-01 -5.84414347e-04 1.66569530e+02] [ 9.89543848e-01 1.44169865e-01 -4.24526630e-03 1.11564620e+02] [ 4.28517075e-03 3.37308354e-05 9.99990818e-01 7.30737454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93862385300002 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:166.57, Y:111.59, Z:0.73 [[ 1.41971196e-01 -9.89870618e-01 -5.83263912e-04 1.66570080e+02] [ 9.89861514e-01 1.41972392e-01 -4.24542435e-03 1.11589375e+02] [ 4.28522820e-03 2.53774743e-05 9.99990818e-01 7.31447156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96862385300003 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:166.57, Y:111.61, Z:0.73 [[ 1.37296428e-01 -9.90529834e-01 -5.82115860e-04 1.66568055e+02] [ 9.90520735e-01 1.37297662e-01 -4.24558177e-03 1.11613846e+02] [ 4.28529855e-03 6.30538190e-06 9.99990818e-01 7.32410714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99862385300003 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:166.57, Y:111.64, Z:0.73 [[ 1.34442468e-01 -9.90921231e-01 -5.80927650e-04 1.66568769e+02] [ 9.90912135e-01 1.34443723e-01 -4.24574434e-03 1.11637399e+02] [ 4.28530029e-03 -4.83990790e-06 9.99990818e-01 7.33114400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02862385300003 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:166.57, Y:111.66, Z:0.73 [[ 1.28485418e-01 -9.91711229e-01 -5.79759602e-04 1.66568501e+02] [ 9.91702140e-01 1.28486723e-01 -4.24590384e-03 1.11662576e+02] [ 4.28520192e-03 -2.94121095e-05 9.99990818e-01 7.33602038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05862385300003 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:166.57, Y:111.69, Z:0.73 [[ 1.25489991e-01 -9.92094717e-01 -5.78636035e-04 1.66570346e+02] [ 9.92085631e-01 1.25491319e-01 -4.24605695e-03 1.11687664e+02] [ 4.28510447e-03 -4.12188465e-05 9.99990818e-01 7.33410593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08862385300003 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:166.57, Y:111.71, Z:0.73 [[ 1.20336377e-01 -9.92733007e-01 -5.77518384e-04 1.66570478e+02] [ 9.92723928e-01 1.20337746e-01 -4.24620896e-03 1.11710840e+02] [ 4.28484905e-03 -6.23429172e-05 9.99990818e-01 7.32015968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11862385300003 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:166.57, Y:111.74, Z:0.73 [[ 1.18256561e-01 -9.92982907e-01 -5.76272708e-04 1.66572327e+02] [ 9.92973830e-01 1.18257944e-01 -4.24637801e-03 1.11735616e+02] [ 4.28472961e-03 -7.00616585e-05 9.99990818e-01 7.32519088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14862385300003 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:166.57, Y:111.76, Z:0.73 [[ 1.16473618e-01 -9.93193619e-01 -5.75132471e-04 1.66574161e+02] [ 9.93184544e-01 1.16475013e-01 -4.24653244e-03 1.11760082e+02] [ 4.28461748e-03 -7.66036846e-05 9.99990818e-01 7.32535192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.178623853 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:166.58, Y:111.78, Z:0.73 [[ 1.14789349e-01 -9.93389690e-01 -5.73998228e-04 1.66575493e+02] [ 9.93380616e-01 1.14790755e-01 -4.24668575e-03 1.11784325e+02] [ 4.28450353e-03 -8.27244192e-05 9.99990818e-01 7.33414702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.208623853 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:166.57, Y:111.81, Z:0.73 [[ 1.12507722e-01 -9.93650685e-01 -5.72828129e-04 1.66574712e+02] [ 9.93641614e-01 1.12509143e-01 -4.24684357e-03 1.11808340e+02] [ 4.28432743e-03 -9.13831719e-05 9.99990818e-01 7.34475518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.238623853 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:166.58, Y:111.83, Z:0.73 [[ 1.10689292e-01 -9.93854896e-01 -5.71613263e-04 1.66575449e+02] [ 9.93845826e-01 1.10690725e-01 -4.24700709e-03 1.11832083e+02] [ 4.28418107e-03 -9.79972470e-05 9.99990818e-01 7.34978567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.268623853 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:166.58, Y:111.86, Z:0.73 [[ 1.09606563e-01 -9.93974887e-01 -5.70451704e-04 1.66577716e+02] [ 9.93965818e-01 1.09608001e-01 -4.24716310e-03 1.11856673e+02] [ 4.28409953e-03 -1.01492545e-04 9.99990818e-01 7.34644619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.298623853 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:166.58, Y:111.88, Z:0.74 [[ 1.08482124e-01 -9.94098237e-01 -5.69337193e-04 1.66580561e+02] [ 9.94089169e-01 1.08483567e-01 -4.24731249e-03 1.11881645e+02] [ 4.28400959e-03 -1.05214455e-04 9.99990818e-01 7.35611283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.328623853 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:166.58, Y:111.90, Z:0.74 [[ 1.07534508e-01 -9.94201190e-01 -5.68152136e-04 1.66583524e+02] [ 9.94192123e-01 1.07535955e-01 -4.24747101e-03 1.11904642e+02] [ 4.28393752e-03 -1.08102673e-04 9.99990818e-01 7.35154774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.358623853 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:166.59, Y:111.93, Z:0.74 [[ 1.05908961e-01 -9.94375669e-01 -5.67040383e-04 1.66585783e+02] [ 9.94366603e-01 1.05910417e-01 -4.24761943e-03 1.11928358e+02] [ 4.28378489e-03 -1.13985061e-04 9.99990818e-01 7.41376990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.388623853 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:166.59, Y:111.95, Z:0.73 [[ 1.05322810e-01 -9.94437924e-01 -5.65854097e-04 1.66589525e+02] [ 9.94428859e-01 1.05324267e-01 -4.24777745e-03 1.11951796e+02] [ 4.28374916e-03 -1.15313787e-04 9.99990818e-01 7.33196971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.418623853 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:166.59, Y:111.98, Z:0.74 [[ 1.04414331e-01 -9.94533724e-01 -5.64794241e-04 1.66593332e+02] [ 9.94524659e-01 1.04415792e-01 -4.24791837e-03 1.11975996e+02] [ 4.28367151e-03 -1.18158246e-04 9.99990818e-01 7.36672054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44862385300002 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:166.60, Y:112.00, Z:0.74 [[ 1.04080680e-01 -9.94568698e-01 -5.63570738e-04 1.66596575e+02] [ 9.94559632e-01 1.04082139e-01 -4.24808068e-03 1.11998959e+02] [ 4.28366572e-03 -1.18361578e-04 9.99990818e-01 7.35026545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47862385300002 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:166.60, Y:112.02, Z:0.74 [[ 1.03545818e-01 -9.94624526e-01 -5.62298014e-04 1.66599628e+02] [ 9.94615460e-01 1.03547275e-01 -4.24824914e-03 1.12023181e+02] [ 4.28363722e-03 -1.19381868e-04 9.99990818e-01 7.35888587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50862385300002 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:166.60, Y:112.05, Z:0.74 [[ 1.03090214e-01 -9.94671852e-01 -5.61159540e-04 1.66604936e+02] [ 9.94662786e-01 1.03091672e-01 -4.24839952e-03 1.12047609e+02] [ 4.28361429e-03 -1.20196093e-04 9.99990818e-01 7.36413766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53862385300002 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:166.61, Y:112.07, Z:0.74 [[ 1.02774770e-01 -9.94704495e-01 -5.60018005e-04 1.66609104e+02] [ 9.94695429e-01 1.02776225e-01 -4.24854999e-03 1.12070618e+02] [ 4.28360831e-03 -1.20403601e-04 9.99990818e-01 7.35785189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56862385300002 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:166.61, Y:112.10, Z:0.74 [[ 1.02509044e-01 -9.94731916e-01 -5.58838049e-04 1.66612012e+02] [ 9.94722849e-01 1.02510496e-01 -4.24870519e-03 1.12095592e+02] [ 4.28360942e-03 -1.20358271e-04 9.99990818e-01 7.35892936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59862385300002 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:166.62, Y:112.12, Z:0.73 [[ 1.02927079e-01 -9.94688748e-01 -5.57703010e-04 1.66617854e+02] [ 9.94679680e-01 1.02928523e-01 -4.24885418e-03 1.12119994e+02] [ 4.28369099e-03 -1.17413701e-04 9.99990818e-01 7.34968648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62862385300002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:166.62, Y:112.14, Z:0.73 [[ 1.03340549e-01 -9.94645877e-01 -5.56521955e-04 1.66622296e+02] [ 9.94636808e-01 1.03341985e-01 -4.24900887e-03 1.12142829e+02] [ 4.28377124e-03 -1.14442310e-04 9.99990818e-01 7.33540964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65862385300002 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:166.63, Y:112.17, Z:0.74 [[ 1.03843979e-01 -9.94593444e-01 -5.55410656e-04 1.66626165e+02] [ 9.94584374e-01 1.03845404e-01 -4.24915413e-03 1.12167608e+02] [ 4.28385768e-03 -1.11153690e-04 9.99990818e-01 7.38873999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68862385300002 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:166.63, Y:112.19, Z:0.73 [[ 1.06574264e-01 -9.94304591e-01 -5.54239878e-04 1.66631989e+02] [ 9.94295516e-01 1.06575660e-01 -4.24930683e-03 1.12191972e+02] [ 4.28417377e-03 -9.82114788e-05 9.99990818e-01 7.31692314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71862385300003 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:166.64, Y:112.21, Z:0.73 [[ 1.07965284e-01 -9.94154511e-01 -5.53060890e-04 1.66635229e+02] [ 9.94145433e-01 1.07966662e-01 -4.24946028e-03 1.12214921e+02] [ 4.28433224e-03 -9.10287741e-05 9.99990818e-01 7.30250286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74862385300003 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:166.64, Y:112.24, Z:0.73 [[ 1.11601018e-01 -9.93752941e-01 -5.51888306e-04 1.66639708e+02] [ 9.93743858e-01 1.11602358e-01 -4.24961256e-03 1.12239118e+02] [ 4.28465701e-03 -7.41745280e-05 9.99990818e-01 7.32085511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77862385300003 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:166.64, Y:112.26, Z:0.73 [[ 1.13212561e-01 -9.93570638e-01 -5.50712244e-04 1.66643678e+02] [ 9.93561551e-01 1.13213882e-01 -4.24976496e-03 1.12263738e+02] [ 4.28478995e-03 -6.60397355e-05 9.99990818e-01 7.32933867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80862385300003 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:166.65, Y:112.29, Z:0.74 [[ 1.16601559e-01 -9.93178622e-01 -5.49510494e-04 1.66647195e+02] [ 9.93169530e-01 1.16602843e-01 -4.24992034e-03 1.12288502e+02] [ 4.28500451e-03 -5.02097402e-05 9.99990818e-01 7.41038277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83862385300003 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:166.65, Y:112.31, Z:0.73 [[ 1.18413629e-01 -9.92964205e-01 -5.48310133e-04 1.66651325e+02] [ 9.92955110e-01 1.18414891e-01 -4.25007520e-03 1.12311656e+02] [ 4.28510063e-03 -4.11805201e-05 9.99990818e-01 7.33457951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86862385300003 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:166.65, Y:112.34, Z:0.74 [[ 1.19822040e-01 -9.92795235e-01 -5.47063074e-04 1.66653335e+02] [ 9.92786138e-01 1.19823284e-01 -4.25023572e-03 1.12336285e+02] [ 4.28516466e-03 -3.38447217e-05 9.99990818e-01 7.44344816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89862385300003 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:166.66, Y:112.36, Z:0.74 [[ 1.22772892e-01 -9.92434642e-01 -5.45814346e-04 1.66656766e+02] [ 9.92425541e-01 1.22774104e-01 -4.25039607e-03 1.12359694e+02] [ 4.28525217e-03 -1.98466804e-05 9.99990818e-01 7.35782770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.928623853 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:166.66, Y:112.38, Z:0.74 [[ 1.23788108e-01 -9.92308525e-01 -5.44517454e-04 1.66659318e+02] [ 9.92299421e-01 1.23789305e-01 -4.25056221e-03 1.12383966e+02] [ 4.28527455e-03 -1.41552997e-05 9.99990818e-01 7.36834175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.958623853 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:166.66, Y:112.41, Z:0.74 [[ 1.25393941e-01 -9.92106882e-01 -5.43294312e-04 1.66662192e+02] [ 9.92097775e-01 1.25395118e-01 -4.25071854e-03 1.12407124e+02] [ 4.28529357e-03 -5.98672646e-06 9.99990818e-01 7.37185218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.988623853 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:166.67, Y:112.43, Z:0.74 [[ 1.25509897e-01 -9.92092220e-01 -5.42024817e-04 1.66665560e+02] [ 9.92083112e-01 1.25511067e-01 -4.25088042e-03 1.12432036e+02] [ 4.28529550e-03 -4.20610423e-06 9.99990818e-01 7.37827096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.018623853 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:166.67, Y:112.46, Z:0.74 [[ 1.25337649e-01 -9.92113996e-01 -5.40820938e-04 1.66668291e+02] [ 9.92104889e-01 1.25338816e-01 -4.25103357e-03 1.12455737e+02] [ 4.28529576e-03 -3.73654304e-06 9.99990818e-01 7.38092418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.048623853 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:166.67, Y:112.48, Z:0.74 [[ 1.24052236e-01 -9.92275542e-01 -5.39576593e-04 1.66670772e+02] [ 9.92266435e-01 1.24053410e-01 -4.25119151e-03 1.12479984e+02] [ 4.28528968e-03 -8.03392899e-06 9.99990818e-01 7.38184489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.078623853 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:166.67, Y:112.50, Z:0.74 [[ 1.22449863e-01 -9.92474555e-01 -5.38367064e-04 1.66673724e+02] [ 9.92465449e-01 1.22451045e-01 -4.25134468e-03 1.12503158e+02] [ 4.28527503e-03 -1.37341382e-05 9.99990818e-01 7.37313736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.108623853 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:166.68, Y:112.53, Z:0.74 [[ 1.19323726e-01 -9.92855256e-01 -5.37113659e-04 1.66678458e+02] [ 9.92846154e-01 1.19324932e-01 -4.25150303e-03 1.12527386e+02] [ 4.28521818e-03 -2.59660477e-05 9.99990818e-01 7.35890566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.138623853 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:166.68, Y:112.55, Z:0.73 [[ 1.17484244e-01 -9.93074602e-01 -5.35929538e-04 1.66682568e+02] [ 9.93065501e-01 1.17485462e-01 -4.25165229e-03 1.12552064e+02] [ 4.28517183e-03 -3.27109810e-05 9.99990818e-01 7.34716994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.168623853 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:166.69, Y:112.58, Z:0.73 [[ 1.15570418e-01 -9.93299146e-01 -5.34751643e-04 1.66686612e+02] [ 9.93290046e-01 1.15571649e-01 -4.25180043e-03 1.12576040e+02] [ 4.28511187e-03 -3.97811291e-05 9.99990818e-01 7.34423922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19862385300002 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:166.69, Y:112.60, Z:0.73 [[ 1.11974805e-01 -9.93710903e-01 -5.33571625e-04 1.66692015e+02] [ 9.93701808e-01 1.11976063e-01 -4.25194851e-03 1.12600622e+02] [ 4.28495484e-03 -5.40999835e-05 9.99990818e-01 7.34608544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22862385300002 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:166.70, Y:112.63, Z:0.73 [[ 1.09997490e-01 -9.93931722e-01 -5.32382345e-04 1.66696515e+02] [ 9.93922629e-01 1.09998761e-01 -4.25209742e-03 1.12625345e+02] [ 4.28485591e-03 -6.14268192e-05 9.99990818e-01 7.34841273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25862385300002 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:166.70, Y:112.65, Z:0.73 [[ 1.06607267e-01 -9.94301065e-01 -5.31179207e-04 1.66703046e+02] [ 9.94291975e-01 1.06608564e-01 -4.25224771e-03 1.12648388e+02] [ 4.28464268e-03 -7.48267160e-05 9.99990818e-01 7.34036786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28862385300002 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:166.71, Y:112.67, Z:0.73 [[ 1.04875433e-01 -9.94485225e-01 -5.29935971e-04 1.66707679e+02] [ 9.94476137e-01 1.04876740e-01 -4.25240264e-03 1.12671995e+02] [ 4.28452955e-03 -8.10361104e-05 9.99990818e-01 7.34202217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31862385300002 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:166.71, Y:112.70, Z:0.74 [[ 1.03354036e-01 -9.94644491e-01 -5.28810307e-04 1.66712386e+02] [ 9.94635404e-01 1.03355352e-01 -4.25254262e-03 1.12695937e+02] [ 4.28442346e-03 -8.64560110e-05 9.99990818e-01 7.35321157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34862385300002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:166.72, Y:112.72, Z:0.74 [[ 1.00626518e-01 -9.94924131e-01 -5.27625425e-04 1.66719240e+02] [ 9.94915046e-01 1.00627855e-01 -4.25268963e-03 1.12719623e+02] [ 4.28419734e-03 -9.70091235e-05 9.99990818e-01 7.38079614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37862385300002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:166.72, Y:112.74, Z:0.74 [[ 9.90522960e-02 -9.95082090e-01 -5.26427165e-04 1.66723993e+02] [ 9.95073007e-01 9.90536417e-02 -4.25283795e-03 1.12743235e+02] [ 4.28406740e-03 -1.02580098e-04 9.99990818e-01 7.38258639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40862385300002 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:166.73, Y:112.77, Z:0.74 [[ 9.75926655e-02 -9.95226304e-01 -5.25186227e-04 1.66729241e+02] [ 9.95217222e-01 9.75940193e-02 -4.25299119e-03 1.12767779e+02] [ 4.28394374e-03 -1.07613631e-04 9.99990818e-01 7.38023762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43862385300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:166.74, Y:112.79, Z:0.74 [[ 9.55755883e-02 -9.95422037e-01 -5.23973249e-04 1.66737278e+02] [ 9.95412958e-01 9.55769553e-02 -4.25314062e-03 1.12791177e+02] [ 4.28374967e-03 -1.15073344e-04 9.99990818e-01 7.36509458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46862385300003 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:166.74, Y:112.81, Z:0.74 [[ 9.49649504e-02 -9.95480479e-01 -5.22758518e-04 1.66742274e+02] [ 9.95471400e-01 9.49663178e-02 -4.25328992e-03 1.12814526e+02] [ 4.28371154e-03 -1.16477687e-04 9.99990818e-01 7.35916358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49862385300003 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:166.75, Y:112.84, Z:0.74 [[ 9.47047197e-02 -9.95505271e-01 -5.21500364e-04 1.66750468e+02] [ 9.95496191e-01 9.47060840e-02 -4.25344418e-03 1.12838599e+02] [ 4.28371536e-03 -1.16330388e-04 9.99990818e-01 7.36123290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52862385300003 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:166.76, Y:112.86, Z:0.74 [[ 9.46583748e-02 -9.95509679e-01 -5.20308068e-04 1.66755709e+02] [ 9.95500599e-01 9.46597345e-02 -4.25359002e-03 1.12862496e+02] [ 4.28374226e-03 -1.15329074e-04 9.99990818e-01 7.37355736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55862385300003 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:166.76, Y:112.89, Z:0.74 [[ 9.50386428e-02 -9.95473449e-01 -5.19091357e-04 1.66761308e+02] [ 9.95464367e-01 9.50399939e-02 -4.25373850e-03 1.12885562e+02] [ 4.28381818e-03 -1.12467415e-04 9.99990818e-01 7.36943279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58862385300003 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:166.77, Y:112.91, Z:0.74 [[ 9.63112031e-02 -9.95351136e-01 -5.17827358e-04 1.66769301e+02] [ 9.95342052e-01 9.63125372e-02 -4.25389237e-03 1.12909359e+02] [ 4.28398987e-03 -1.05717853e-04 9.99990818e-01 7.37051687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61862385300003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:166.77, Y:112.93, Z:0.74 [[ 9.70947094e-02 -9.95275013e-01 -5.16642102e-04 1.66774015e+02] [ 9.95265926e-01 9.70960312e-02 -4.25403631e-03 1.12932191e+02] [ 4.28409994e-03 -1.01151860e-04 9.99990818e-01 7.37009036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64862385300003 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:166.78, Y:112.96, Z:0.74 [[ 9.95169651e-02 -9.95035732e-01 -5.15525766e-04 1.66781669e+02] [ 9.95026642e-01 9.95182600e-02 -4.25417159e-03 1.12956106e+02] [ 4.28435697e-03 -8.95996254e-05 9.99990818e-01 7.39504275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.678623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:166.79, Y:112.98, Z:0.74 [[ 1.00609354e-01 -9.94925873e-01 -5.14286834e-04 1.66786927e+02] [ 9.94916781e-01 1.00610633e-01 -4.25432136e-03 1.12979777e+02] [ 4.28447712e-03 -8.36480783e-05 9.99990818e-01 7.40312696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.708623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:166.79, Y:113.00, Z:0.74 [[ 1.01690600e-01 -9.94815942e-01 -5.12996514e-04 1.66791856e+02] [ 9.94806848e-01 1.01691864e-01 -4.25447695e-03 1.13002980e+02] [ 4.28458906e-03 -7.76921329e-05 9.99990818e-01 7.40754203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.738623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:166.80, Y:113.03, Z:0.74 [[ 1.04437253e-01 -9.94531346e-01 -5.11746180e-04 1.66799254e+02] [ 9.94522247e-01 1.04438487e-01 -4.25462734e-03 1.13027195e+02] [ 4.28480625e-03 -6.46013698e-05 9.99990818e-01 7.41578982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.768623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:166.80, Y:113.05, Z:0.74 [[ 1.05777019e-01 -9.94389743e-01 -5.10549280e-04 1.66803782e+02] [ 9.94380642e-01 1.05778235e-01 -4.25477096e-03 1.13051348e+02] [ 4.28490560e-03 -5.76233348e-05 9.99990818e-01 7.42421628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.798623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:166.81, Y:113.08, Z:0.74 [[ 1.07188039e-01 -9.94238636e-01 -5.09342860e-04 1.66808622e+02] [ 9.94229532e-01 1.07189237e-01 -4.25491538e-03 1.13076033e+02] [ 4.28499733e-03 -5.03276782e-05 9.99990818e-01 7.42555743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.828623853 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:166.81, Y:113.10, Z:0.74 [[ 1.10341906e-01 -9.93893559e-01 -5.08129829e-04 1.66814661e+02] [ 9.93884451e-01 1.10343070e-01 -4.25506023e-03 1.13100488e+02] [ 4.28514556e-03 -3.55108818e-05 9.99990818e-01 7.42808802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.858623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:166.82, Y:113.12, Z:0.74 [[ 1.12619580e-01 -9.93638049e-01 -5.06883068e-04 1.66821101e+02] [ 9.93628938e-01 1.12620718e-01 -4.25520875e-03 1.13123390e+02] [ 4.28522286e-03 -2.44338620e-05 9.99990818e-01 7.41086024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.888623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:166.83, Y:113.15, Z:0.75 [[ 1.13476511e-01 -9.93540551e-01 -5.05589809e-04 1.66825080e+02] [ 9.93531438e-01 1.13477636e-01 -4.25536240e-03 1.13147237e+02] [ 4.28524824e-03 -1.94356922e-05 9.99990818e-01 7.45580751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.918623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:166.83, Y:113.17, Z:0.74 [[ 1.14061214e-01 -9.93473596e-01 -5.04424810e-04 1.66830575e+02] [ 9.93464482e-01 1.14062328e-01 -4.25550050e-03 1.13171775e+02] [ 4.28526325e-03 -1.57405816e-05 9.99990818e-01 7.40795057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94862385300002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:166.83, Y:113.20, Z:0.74 [[ 1.14438126e-01 -9.93430250e-01 -5.03224683e-04 1.66834866e+02] [ 9.93421135e-01 1.14439232e-01 -4.25564241e-03 1.13196186e+02] [ 4.28527255e-03 -1.29062933e-05 9.99990818e-01 7.40668572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97862385300002 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:166.84, Y:113.22, Z:0.74 [[ 1.15567377e-01 -9.93299517e-01 -5.02007025e-04 1.66841312e+02] [ 9.93290400e-01 1.15568467e-01 -4.25578604e-03 1.13220365e+02] [ 4.28528640e-03 -6.80873042e-06 9.99990818e-01 7.41822404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00862385300002 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:166.85, Y:113.24, Z:0.74 [[ 1.15782276e-01 -9.93274491e-01 -5.00746591e-04 1.66846171e+02] [ 9.93265373e-01 1.15783358e-01 -4.25593434e-03 1.13243559e+02] [ 4.28528914e-03 -4.61248623e-06 9.99990818e-01 7.41581432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03862385300002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:166.85, Y:113.27, Z:0.74 [[ 1.16181991e-01 -9.93227816e-01 -4.99562658e-04 1.66853024e+02] [ 9.93218698e-01 1.16183065e-01 -4.25607331e-03 1.13267170e+02] [ 4.28529112e-03 -1.69590017e-06 9.99990818e-01 7.43085119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:166.86, Y:113.29, Z:0.74 [[ 1.16082595e-01 -9.93239439e-01 -4.98321389e-04 1.66857421e+02] [ 9.93230319e-01 1.16083665e-01 -4.25621864e-03 1.13291465e+02] [ 4.28529119e-03 -8.75008026e-07 9.99990818e-01 7.43424940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:166.86, Y:113.32, Z:0.74 [[ 1.16080847e-01 -9.93239644e-01 -4.97087326e-04 1.66861551e+02] [ 9.93230524e-01 1.16081911e-01 -4.25636276e-03 1.13315280e+02] [ 4.28529108e-03 3.59890216e-07 9.99990818e-01 7.43729318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:166.87, Y:113.34, Z:0.75 [[ 1.16930898e-01 -9.93139929e-01 -4.95805890e-04 1.66866943e+02] [ 9.93130808e-01 1.16931949e-01 -4.25651202e-03 1.13339932e+02] [ 4.28528760e-03 5.31766886e-06 9.99990818e-01 7.45393492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15862385300002 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:166.87, Y:113.36, Z:0.75 [[ 1.17539440e-01 -9.93068092e-01 -4.94583280e-04 1.66870190e+02] [ 9.93058969e-01 1.17540480e-01 -4.25665408e-03 1.13364763e+02] [ 4.28528090e-03 9.17437554e-06 9.99990818e-01 7.51655033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.88, Y:113.39, Z:0.74 [[ 1.18137806e-01 -9.92997087e-01 -4.93366803e-04 1.66876465e+02] [ 9.92987963e-01 1.18138836e-01 -4.25679507e-03 1.13388957e+02] [ 4.28527089e-03 1.29811346e-05 9.99990818e-01 7.43832705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21862385300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:166.88, Y:113.41, Z:0.74 [[ 1.18418754e-01 -9.92963623e-01 -4.92156779e-04 1.66880914e+02] [ 9.92954498e-01 1.18419776e-01 -4.25693497e-03 1.13411888e+02] [ 4.28526266e-03 1.54116494e-05 9.99990818e-01 7.42430934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24862385300003 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:166.89, Y:113.44, Z:0.74 [[ 1.18718109e-01 -9.92927877e-01 -4.90904856e-04 1.66885112e+02] [ 9.92918752e-01 1.18719122e-01 -4.25707933e-03 1.13435955e+02] [ 4.28525254e-03 1.79637702e-05 9.99990818e-01 7.43820326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27862385300003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:166.89, Y:113.46, Z:0.74 [[ 1.20302362e-01 -9.92737177e-01 -4.89670544e-04 1.66890748e+02] [ 9.92728049e-01 1.20303356e-01 -4.25722130e-03 1.13459175e+02] [ 4.28521087e-03 2.60440950e-05 9.99990818e-01 7.44583553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30862385300003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:166.89, Y:113.48, Z:0.75 [[ 1.21303306e-01 -9.92615368e-01 -4.88393550e-04 1.66894184e+02] [ 9.92606239e-01 1.21304285e-01 -4.25736780e-03 1.13483332e+02] [ 4.28517293e-03 3.16503025e-05 9.99990818e-01 7.45254452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:166.90, Y:113.51, Z:0.74 [[ 1.23946795e-01 -9.92288746e-01 -4.87186995e-04 1.66897062e+02] [ 9.92279613e-01 1.23947745e-01 -4.25750586e-03 1.13507169e+02] [ 4.28506088e-03 4.42784850e-05 9.99990818e-01 7.44650013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:166.90, Y:113.53, Z:0.74 [[ 1.25060627e-01 -9.92148983e-01 -4.85936029e-04 1.66900197e+02] [ 9.92139848e-01 1.25061561e-01 -4.25764864e-03 1.13531877e+02] [ 4.28499368e-03 5.03477095e-05 9.99990818e-01 7.44873483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.90, Y:113.56, Z:0.74 [[ 1.26035988e-01 -9.92025552e-01 -4.84743142e-04 1.66903339e+02] [ 9.92016416e-01 1.26036908e-01 -4.25778445e-03 1.13555182e+02] [ 4.28492649e-03 5.57609141e-05 9.99990818e-01 7.44378499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.428623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.91, Y:113.58, Z:0.74 [[ 1.27757888e-01 -9.91805267e-01 -4.83509814e-04 1.66905901e+02] [ 9.91796130e-01 1.27758787e-01 -4.25792450e-03 1.13579140e+02] [ 4.28480457e-03 6.44402800e-05 9.99990818e-01 7.41046484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.458623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.91, Y:113.60, Z:0.74 [[ 1.27476201e-01 -9.91841512e-01 -4.82404156e-04 1.66908211e+02] [ 9.91832374e-01 1.27477097e-01 -4.25804976e-03 1.13603377e+02] [ 4.28480600e-03 6.43359473e-05 9.99990818e-01 7.41150666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.488623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:166.91, Y:113.63, Z:0.74 [[ 1.27982120e-01 -9.91776359e-01 -4.81194780e-04 1.66910280e+02] [ 9.91767220e-01 1.27983007e-01 -4.25818643e-03 1.13628390e+02] [ 4.28475338e-03 6.77385181e-05 9.99990818e-01 7.41893622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.518623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:166.91, Y:113.65, Z:0.74 [[ 1.28312400e-01 -9.91733683e-01 -4.80025391e-04 1.66912432e+02] [ 9.91724543e-01 1.28313278e-01 -4.25831825e-03 1.13652855e+02] [ 4.28471127e-03 7.03420722e-05 9.99990818e-01 7.41888007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.548623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.91, Y:113.68, Z:0.74 [[ 1.28656348e-01 -9.91689122e-01 -4.78859025e-04 1.66914216e+02] [ 9.91679982e-01 1.28657218e-01 -4.25844940e-03 1.13677935e+02] [ 4.28466662e-03 7.30016383e-05 9.99990818e-01 7.43668238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.578623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.92, Y:113.70, Z:0.74 [[ 1.28218168e-01 -9.91745871e-01 -4.77690918e-04 1.66915553e+02] [ 9.91736731e-01 1.28219038e-01 -4.25858043e-03 1.13702017e+02] [ 4.28467863e-03 7.22837541e-05 9.99990818e-01 7.44907811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.608623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:166.92, Y:113.73, Z:0.75 [[ 1.27073399e-01 -9.91893202e-01 -4.76479871e-04 1.66916917e+02] [ 9.91884062e-01 1.27074274e-01 -4.25871593e-03 1.13726842e+02] [ 4.28473971e-03 6.85567182e-05 9.99990818e-01 7.49621270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.92, Y:113.75, Z:0.75 [[ 1.25974529e-01 -9.92033362e-01 -4.75271723e-04 1.66919270e+02] [ 9.92024223e-01 1.25975409e-01 -4.25885075e-03 1.13750327e+02] [ 4.28479458e-03 6.50256550e-05 9.99990818e-01 7.49485706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.668623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:166.92, Y:113.78, Z:0.75 [[ 1.24847572e-01 -9.92175821e-01 -4.73985180e-04 1.66921798e+02] [ 9.92166682e-01 1.24848456e-01 -4.25899393e-03 1.13775200e+02] [ 4.28484712e-03 6.14527479e-05 9.99990818e-01 7.51750004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.92, Y:113.80, Z:0.75 [[ 1.21902711e-01 -9.92541942e-01 -4.72741648e-04 1.66922842e+02] [ 9.92532804e-01 1.21903617e-01 -4.25913196e-03 1.13798693e+02] [ 4.28499602e-03 4.99881382e-05 9.99990818e-01 7.51825366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:166.92, Y:113.82, Z:0.75 [[ 1.20087581e-01 -9.92763190e-01 -4.71456207e-04 1.66924125e+02] [ 9.92754054e-01 1.20088499e-01 -4.25927424e-03 1.13823253e+02] [ 4.28506715e-03 4.34458821e-05 9.99990818e-01 7.52099703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:166.93, Y:113.85, Z:0.75 [[ 1.16447789e-01 -9.93196703e-01 -4.70303972e-04 1.66925507e+02] [ 9.93187570e-01 1.16448735e-01 -4.25940147e-03 1.13846914e+02] [ 4.28518980e-03 2.88978258e-05 9.99990818e-01 7.50159645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.93, Y:113.87, Z:0.75 [[ 1.14345463e-01 -9.93440937e-01 -4.69105990e-04 1.66927575e+02] [ 9.93431805e-01 1.14346423e-01 -4.25953340e-03 1.13871728e+02] [ 4.28523545e-03 2.10335079e-05 9.99990818e-01 7.49611069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:166.93, Y:113.90, Z:0.75 [[ 1.12274974e-01 -9.93677066e-01 -4.67921738e-04 1.66929924e+02] [ 9.93667936e-01 1.12275948e-01 -4.25966349e-03 1.13896643e+02] [ 4.28526628e-03 1.32947804e-05 9.99990818e-01 7.49690170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:166.93, Y:113.92, Z:0.75 [[ 1.10232287e-01 -9.93905743e-01 -4.66691984e-04 1.66932066e+02] [ 9.93896614e-01 1.10233275e-01 -4.25979822e-03 1.13920068e+02] [ 4.28528290e-03 5.72371708e-06 9.99990818e-01 7.48812992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.93, Y:113.95, Z:0.75 [[ 1.07112873e-01 -9.94246758e-01 -4.65417723e-04 1.66934388e+02] [ 9.94237632e-01 1.07113884e-01 -4.25993744e-03 1.13945002e+02] [ 4.28528169e-03 -6.44167764e-06 9.99990818e-01 7.47405516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.94, Y:113.97, Z:0.75 [[ 1.04639928e-01 -9.94510065e-01 -4.64202521e-04 1.66936458e+02] [ 9.94500941e-01 1.04640956e-01 -4.26006986e-03 1.13969814e+02] [ 4.28525695e-03 -1.58764417e-05 9.99990818e-01 7.47550725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.94, Y:113.99, Z:0.75 [[ 1.03578697e-01 -9.94621154e-01 -4.62982239e-04 1.66938992e+02] [ 9.94612030e-01 1.03579730e-01 -4.26020247e-03 1.13994722e+02] [ 4.28524307e-03 -1.92214816e-05 9.99990818e-01 7.48672463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:166.94, Y:114.02, Z:0.75 [[ 1.02657761e-01 -9.94716629e-01 -4.61761305e-04 1.66941251e+02] [ 9.94707505e-01 1.02658797e-01 -4.26033480e-03 1.14018262e+02] [ 4.28522973e-03 -2.19610059e-05 9.99990818e-01 7.47005303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.94, Y:114.04, Z:0.75 [[ 1.01642360e-01 -9.94820898e-01 -4.60501074e-04 1.66943231e+02] [ 9.94811775e-01 1.01643400e-01 -4.26047102e-03 1.14043010e+02] [ 4.28521250e-03 -2.50675601e-05 9.99990818e-01 7.49734284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:166.94, Y:114.07, Z:0.75 [[ 1.01124511e-01 -9.94873672e-01 -4.59314804e-04 1.66944912e+02] [ 9.94864549e-01 1.01125551e-01 -4.26059890e-03 1.14066999e+02] [ 4.28520614e-03 -2.61050355e-05 9.99990818e-01 7.48979893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:166.95, Y:114.09, Z:0.75 [[ 1.00548194e-01 -9.94932084e-01 -4.58084179e-04 1.66947473e+02] [ 9.94922961e-01 1.00549234e-01 -4.26073121e-03 1.14089261e+02] [ 4.28519820e-03 -2.73496370e-05 9.99990818e-01 7.49043865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08862385300003 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:166.95, Y:114.11, Z:0.75 [[ 9.99836787e-02 -9.94988972e-01 -4.56843833e-04 1.66950199e+02] [ 9.94979850e-01 9.99847184e-02 -4.26086420e-03 1.14112400e+02] [ 4.28519029e-03 -2.85335308e-05 9.99990818e-01 7.47816591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11862385300003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:166.95, Y:114.14, Z:0.75 [[ 9.97456935e-02 -9.95012859e-01 -4.55613883e-04 1.66952457e+02] [ 9.95003736e-01 9.97467300e-02 -4.26099571e-03 1.14137364e+02] [ 4.28519152e-03 -2.83215429e-05 9.99990818e-01 7.49546072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.95, Y:114.16, Z:0.75 [[ 9.97301138e-02 -9.95014421e-01 -4.54431319e-04 1.66954378e+02] [ 9.95005297e-01 9.97311455e-02 -4.26112183e-03 1.14160519e+02] [ 4.28519863e-03 -2.71994044e-05 9.99990818e-01 7.47295868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.96, Y:114.18, Z:0.75 [[ 9.99054790e-02 -9.94996829e-01 -4.53205705e-04 1.66957178e+02] [ 9.94987705e-01 9.99065038e-02 -4.26125218e-03 1.14184724e+02] [ 4.28521060e-03 -2.52116641e-05 9.99990818e-01 7.49871914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.96, Y:114.21, Z:0.75 [[ 1.00936679e-01 -9.94892749e-01 -4.52035477e-04 1.66960703e+02] [ 9.94883623e-01 1.00937689e-01 -4.26137631e-03 1.14209275e+02] [ 4.28523981e-03 -1.95935193e-05 9.99990818e-01 7.51878387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.96, Y:114.23, Z:0.75 [[ 1.01605347e-01 -9.94824683e-01 -4.50838826e-04 1.66963372e+02] [ 9.94815556e-01 1.01606346e-01 -4.26150291e-03 1.14233023e+02] [ 4.28525637e-03 -1.55099953e-05 9.99990818e-01 7.49537996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.268623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:166.97, Y:114.26, Z:0.76 [[ 1.02612098e-01 -9.94721346e-01 -4.49602234e-04 1.66965417e+02] [ 9.94712217e-01 1.02613082e-01 -4.26163337e-03 1.14256295e+02] [ 4.28527275e-03 -9.92969468e-06 9.99990818e-01 7.56723294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.298623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.97, Y:114.28, Z:0.75 [[ 1.04624131e-01 -9.94511735e-01 -4.48420149e-04 1.66968837e+02] [ 9.94502603e-01 1.04625092e-01 -4.26175775e-03 1.14279132e+02] [ 4.28528409e-03 -7.23044701e-08 9.99990818e-01 7.50794685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.328623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.97, Y:114.30, Z:0.75 [[ 1.05835106e-01 -9.94383593e-01 -4.47198617e-04 1.66971495e+02] [ 9.94374460e-01 1.05836051e-01 -4.26188593e-03 1.14303315e+02] [ 4.28527918e-03 6.37426759e-06 9.99990818e-01 7.51647917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.358623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.97, Y:114.33, Z:0.75 [[ 1.08681586e-01 -9.94076513e-01 -4.46041277e-04 1.66974111e+02] [ 9.94067377e-01 1.08682499e-01 -4.26200705e-03 1.14327467e+02] [ 4.28523799e-03 1.98066029e-05 9.99990818e-01 7.54071161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.388623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.98, Y:114.35, Z:0.75 [[ 1.10293036e-01 -9.93899013e-01 -4.44845519e-04 1.66976227e+02] [ 9.93889875e-01 1.10293930e-01 -4.26213185e-03 1.14350784e+02] [ 4.28519240e-03 2.79560042e-05 9.99990818e-01 7.51644368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.418623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.98, Y:114.38, Z:0.75 [[ 1.13856610e-01 -9.93497094e-01 -4.43603489e-04 1.66978090e+02] [ 9.93487952e-01 1.13857465e-01 -4.26226112e-03 1.14375540e+02] [ 4.28505160e-03 4.45718797e-05 9.99990818e-01 7.54636317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:166.98, Y:114.40, Z:0.76 [[ 1.15570342e-01 -9.93299200e-01 -4.42414615e-04 1.66979503e+02] [ 9.93290056e-01 1.15571176e-01 -4.26238452e-03 1.14400672e+02] [ 4.28495351e-03 5.31591969e-05 9.99990818e-01 7.55038130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:166.98, Y:114.43, Z:0.76 [[ 1.17490220e-01 -9.93073942e-01 -4.41217093e-04 1.66980360e+02] [ 9.93064796e-01 1.17491032e-01 -4.26250847e-03 1.14425605e+02] [ 4.28482514e-03 6.26458976e-05 9.99990818e-01 7.59996045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.98, Y:114.45, Z:0.75 [[ 1.20947670e-01 -9.92658787e-01 -4.40022502e-04 1.66981239e+02] [ 9.92649638e-01 1.20948445e-01 -4.26263179e-03 1.14449442e+02] [ 4.28455894e-03 7.87672074e-05 9.99990818e-01 7.53765979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:166.98, Y:114.47, Z:0.76 [[ 1.22497000e-01 -9.92468787e-01 -4.38782283e-04 1.66981636e+02] [ 9.92459636e-01 1.22497755e-01 -4.26275945e-03 1.14473851e+02] [ 4.28440554e-03 8.67015387e-05 9.99990818e-01 7.55327031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:114.50, Z:0.76 [[ 1.25130705e-01 -9.92140169e-01 -4.37567877e-04 1.66979918e+02] [ 9.92131016e-01 1.25131431e-01 -4.26288410e-03 1.14497395e+02] [ 4.28413205e-03 9.92930329e-05 9.99990818e-01 7.56488676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:114.52, Z:0.76 [[ 1.25940158e-01 -9.92037744e-01 -4.36366508e-04 1.66980441e+02] [ 9.92028590e-01 1.25940871e-01 -4.26300708e-03 1.14522438e+02] [ 4.28402030e-03 1.03995734e-04 9.99990818e-01 7.56783099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.98, Y:114.55, Z:0.76 [[ 1.26124779e-01 -9.92014290e-01 -4.35157513e-04 1.66979916e+02] [ 9.92005135e-01 1.26125485e-01 -4.26313049e-03 1.14547746e+02] [ 4.28397081e-03 1.06007901e-04 9.99990818e-01 7.56629686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:166.98, Y:114.57, Z:0.76 [[ 1.25457069e-01 -9.92098955e-01 -4.33957395e-04 1.66979998e+02] [ 9.92089800e-01 1.25457776e-01 -4.26325265e-03 1.14571130e+02] [ 4.28401182e-03 1.04330476e-04 9.99990818e-01 7.61213988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.98, Y:114.59, Z:0.75 [[ 1.24115392e-01 -9.92267697e-01 -4.32826948e-04 1.66981229e+02] [ 9.92258543e-01 1.24116107e-01 -4.26336741e-03 1.14594967e+02] [ 4.28412256e-03 9.96732826e-05 9.99990818e-01 7.53863919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:114.62, Z:0.75 [[ 1.21040704e-01 -9.92647451e-01 -4.31591162e-04 1.66981040e+02] [ 9.92638299e-01 1.21041442e-01 -4.26349251e-03 1.14619880e+02] [ 4.28438539e-03 8.76422178e-05 9.99990818e-01 7.53489119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.98, Y:114.65, Z:0.75 [[ 1.19013003e-01 -9.92892602e-01 -4.30413449e-04 1.66982248e+02] [ 9.92883451e-01 1.19013754e-01 -4.26361140e-03 1.14645049e+02] [ 4.28453334e-03 8.00748040e-05 9.99990818e-01 7.53383674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:166.98, Y:114.67, Z:0.76 [[ 1.14870119e-01 -9.93380426e-01 -4.29239495e-04 1.66981802e+02] [ 9.93371278e-01 1.14870904e-01 -4.26372958e-03 1.14669578e+02] [ 4.28481264e-03 6.33809396e-05 9.99990818e-01 7.59910917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.98, Y:114.69, Z:0.76 [[ 1.12442512e-01 -9.93658140e-01 -4.28061949e-04 1.66983293e+02] [ 9.93648993e-01 1.12443314e-01 -4.26384780e-03 1.14693674e+02] [ 4.28493978e-03 5.40944326e-05 9.99990818e-01 7.58666758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.99, Y:114.72, Z:0.75 [[ 1.08415507e-01 -9.94105576e-01 -4.26952003e-04 1.66985123e+02] [ 9.94096432e-01 1.08416341e-01 -4.26395894e-03 1.14718769e+02] [ 4.28511393e-03 3.78478080e-05 9.99990818e-01 7.52225332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.99, Y:114.74, Z:0.75 [[ 1.06396011e-01 -9.94323744e-01 -4.25768619e-04 1.66986174e+02] [ 9.94314601e-01 1.06396859e-01 -4.26407710e-03 1.14743668e+02] [ 4.28517355e-03 3.03328410e-05 9.99990818e-01 7.52050353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:166.99, Y:114.77, Z:0.75 [[ 1.04284362e-01 -9.94547431e-01 -4.24638054e-04 1.66986815e+02] [ 9.94538289e-01 1.04285224e-01 -4.26418969e-03 1.14768562e+02] [ 4.28522237e-03 2.23694982e-05 9.99990818e-01 7.52825040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.928623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.99, Y:114.79, Z:0.75 [[ 1.02416338e-01 -9.94741532e-01 -4.23456928e-04 1.66987581e+02] [ 9.94732391e-01 1.02417212e-01 -4.26430698e-03 1.14792693e+02] [ 4.28525253e-03 1.55083814e-05 9.99990818e-01 7.52442640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.958623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:166.99, Y:114.82, Z:0.76 [[ 9.94947608e-02 -9.95037996e-01 -4.22317043e-04 1.66988047e+02] [ 9.95028858e-01 9.94956570e-02 -4.26441986e-03 1.14815294e+02] [ 4.28527851e-03 4.06978894e-06 9.99990818e-01 7.59758358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.988623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:166.99, Y:114.84, Z:0.75 [[ 9.77789458e-02 -9.95208069e-01 -4.21026399e-04 1.66991328e+02] [ 9.95198932e-01 9.77798522e-02 -4.26454728e-03 1.14840074e+02] [ 4.28527977e-03 -2.02208482e-06 9.99990818e-01 7.52823461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.018623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:166.99, Y:114.86, Z:0.75 [[ 9.52806831e-02 -9.95450358e-01 -4.19858331e-04 1.66993951e+02] [ 9.95441223e-01 9.52816075e-02 -4.26466228e-03 1.14863078e+02] [ 4.28526437e-03 -1.16043549e-05 9.99990818e-01 7.50569771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.048623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.00, Y:114.89, Z:0.76 [[ 9.43494841e-02 -9.95539050e-01 -4.18550817e-04 1.66995543e+02] [ 9.95529915e-01 9.43504114e-02 -4.26479060e-03 1.14885928e+02] [ 4.28525602e-03 -1.42990665e-05 9.99990818e-01 7.55611865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.078623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.00, Y:114.91, Z:0.75 [[ 9.37257329e-02 -9.95597968e-01 -4.17249510e-04 1.66998758e+02] [ 9.95588833e-01 9.37266603e-02 -4.26491791e-03 1.14910020e+02] [ 4.28525101e-03 -1.56763957e-05 9.99990818e-01 7.50925269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.108623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.00, Y:114.93, Z:0.75 [[ 9.36370821e-02 -9.95606310e-01 -4.16023371e-04 1.67000941e+02] [ 9.95597174e-01 9.36380051e-02 -4.26503751e-03 1.14933075e+02] [ 4.28525386e-03 -1.48260244e-05 9.99990818e-01 7.51411467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:114.96, Z:0.75 [[ 9.39118928e-02 -9.95580426e-01 -4.14944923e-04 1.67002867e+02] [ 9.95571290e-01 9.39128086e-02 -4.26514243e-03 1.14956140e+02] [ 4.28526096e-03 -1.25596534e-05 9.99990818e-01 7.51750650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.168623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.00, Y:114.98, Z:0.75 [[ 9.60082280e-02 -9.95380454e-01 -4.13670923e-04 1.67004821e+02] [ 9.95371316e-01 9.60091191e-02 -4.26526599e-03 1.14980350e+02] [ 4.28527858e-03 -2.25554083e-06 9.99990818e-01 7.52474178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:115.00, Z:0.75 [[ 9.74175874e-02 -9.95243510e-01 -4.12451359e-04 1.67006513e+02] [ 9.95234369e-01 9.74184604e-02 -4.26538392e-03 1.15004535e+02] [ 4.28527604e-03 5.03764241e-06 9.99990818e-01 7.52941521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:115.03, Z:0.75 [[ 9.88709163e-02 -9.95100182e-01 -4.11229948e-04 1.67008154e+02] [ 9.95091040e-01 9.88717707e-02 -4.26550167e-03 1.15028969e+02] [ 4.28526053e-03 1.25228223e-05 9.99990818e-01 7.54536829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.01, Y:115.05, Z:0.75 [[ 1.01975385e-01 -9.94786838e-01 -4.10022917e-04 1.67009207e+02] [ 9.94777693e-01 1.01976206e-01 -4.26561770e-03 1.15052243e+02] [ 4.28519292e-03 2.71063567e-05 9.99990818e-01 7.52334344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:167.01, Y:115.08, Z:0.76 [[ 1.03193126e-01 -9.94661255e-01 -4.08885529e-04 1.67009998e+02] [ 9.94652108e-01 1.03193931e-01 -4.26572672e-03 1.15076525e+02] [ 4.28514760e-03 3.34948216e-05 9.99990818e-01 7.59841499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.01, Y:115.10, Z:0.76 [[ 1.04966217e-01 -9.94475705e-01 -4.07676255e-04 1.67011282e+02] [ 9.94466556e-01 1.04967000e-01 -4.26584229e-03 1.15101590e+02] [ 4.28506907e-03 4.23489264e-05 9.99990818e-01 7.58865817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.01, Y:115.13, Z:0.75 [[ 1.05186143e-01 -9.94452468e-01 -4.06472381e-04 1.67013884e+02] [ 9.94443319e-01 1.05186919e-01 -4.26595700e-03 1.15126210e+02] [ 4.28504704e-03 4.45058186e-05 9.99990818e-01 7.52865971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.02, Y:115.15, Z:0.75 [[ 1.04894103e-01 -9.94483315e-01 -4.05222816e-04 1.67015909e+02] [ 9.94474165e-01 1.04894876e-01 -4.26607569e-03 1.15151301e+02] [ 4.28504689e-03 4.45025603e-05 9.99990818e-01 7.52973718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.02, Y:115.17, Z:0.75 [[ 1.05286320e-01 -9.94441867e-01 -4.03969974e-04 1.67018041e+02] [ 9.94432717e-01 1.05287084e-01 -4.26619432e-03 1.15174413e+02] [ 4.28501507e-03 4.74509414e-05 9.99990818e-01 7.53150534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.02, Y:115.20, Z:0.75 [[ 1.05136302e-01 -9.94457740e-01 -4.02672181e-04 1.67019784e+02] [ 9.94448589e-01 1.05137063e-01 -4.26631681e-03 1.15197945e+02] [ 4.28500754e-03 4.81079931e-05 9.99990818e-01 7.52471485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.02, Y:115.22, Z:0.75 [[ 1.05259140e-01 -9.94444746e-01 -4.01395976e-04 1.67022182e+02] [ 9.94435595e-01 1.05259893e-01 -4.26643688e-03 1.15222912e+02] [ 4.28498664e-03 4.99190286e-05 9.99990818e-01 7.54240629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.02, Y:115.25, Z:0.75 [[ 1.05832397e-01 -9.94383902e-01 -4.00146271e-04 1.67022427e+02] [ 9.94374750e-01 1.05833140e-01 -4.26655409e-03 1.15247139e+02] [ 4.28494144e-03 5.36442995e-05 9.99990818e-01 7.51294679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52862385300003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.02, Y:115.27, Z:0.75 [[ 1.06106118e-01 -9.94354732e-01 -3.98855568e-04 1.67023318e+02] [ 9.94345579e-01 1.06106853e-01 -4.26667474e-03 1.15272032e+02] [ 4.28490953e-03 5.61200222e-05 9.99990818e-01 7.52441031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.02, Y:115.30, Z:0.75 [[ 1.05925041e-01 -9.94374038e-01 -3.97689284e-04 1.67024114e+02] [ 9.94364885e-01 1.05925772e-01 -4.26678345e-03 1.15296395e+02] [ 4.28490423e-03 5.65109512e-05 9.99990818e-01 7.50834210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58862385300003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:167.02, Y:115.32, Z:0.76 [[ 1.05223003e-01 -9.94448572e-01 -3.96504883e-04 1.67024988e+02] [ 9.94439420e-01 1.05223736e-01 -4.26689351e-03 1.15321300e+02] [ 4.28492788e-03 5.46752613e-05 9.99990818e-01 7.57813609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:115.34, Z:0.75 [[ 1.03499735e-01 -9.94629403e-01 -3.95294544e-04 1.67027448e+02] [ 9.94620251e-01 1.03500479e-01 -4.26700564e-03 1.15344496e+02] [ 4.28500244e-03 4.84659960e-05 9.99990818e-01 7.51222397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.03, Y:115.37, Z:0.75 [[ 1.02370147e-01 -9.94746298e-01 -3.94038539e-04 1.67029379e+02] [ 9.94737147e-01 1.02370895e-01 -4.26712162e-03 1.15369416e+02] [ 4.28504151e-03 4.48610942e-05 9.99990818e-01 7.53261629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.03, Y:115.39, Z:0.75 [[ 1.00934117e-01 -9.94893034e-01 -3.92836223e-04 1.67031009e+02] [ 9.94883884e-01 1.00934874e-01 -4.26723230e-03 1.15393148e+02] [ 4.28509057e-03 3.98828979e-05 9.99990818e-01 7.53998072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.708623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.03, Y:115.42, Z:0.76 [[ 9.85586507e-02 -9.95131167e-01 -3.91589380e-04 1.67032096e+02] [ 9.95122018e-01 9.85594238e-02 -4.26734672e-03 1.15417607e+02] [ 4.28516454e-03 3.09047212e-05 9.99990818e-01 7.61495509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.738623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.03, Y:115.44, Z:0.76 [[ 9.76278361e-02 -9.95222916e-01 -3.90395913e-04 1.67034221e+02] [ 9.95213767e-01 9.76286126e-02 -4.26745590e-03 1.15441999e+02] [ 4.28518372e-03 2.80950984e-05 9.99990818e-01 7.56506296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.04, Y:115.47, Z:0.76 [[ 9.69240037e-02 -9.95291709e-01 -3.89165668e-04 1.67035483e+02] [ 9.95282560e-01 9.69247814e-02 -4.26756809e-03 1.15465409e+02] [ 4.28519493e-03 2.62999824e-05 9.99990818e-01 7.55017647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.798623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.04, Y:115.49, Z:0.75 [[ 9.67420900e-02 -9.95309408e-01 -3.87889991e-04 1.67037540e+02] [ 9.95300259e-01 9.67428639e-02 -4.26768403e-03 1.15490247e+02] [ 4.28519166e-03 2.67976647e-05 9.99990818e-01 7.54558720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:115.51, Z:0.76 [[ 9.68101601e-02 -9.95302790e-01 -3.86680520e-04 1.67039604e+02] [ 9.95293640e-01 9.68109282e-02 -4.26779362e-03 1.15514905e+02] [ 4.28518179e-03 2.83051211e-05 9.99990818e-01 7.55571030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.858623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.04, Y:115.54, Z:0.76 [[ 9.72833347e-02 -9.95256652e-01 -3.85438783e-04 1.67040521e+02] [ 9.95247502e-01 9.72840931e-02 -4.26790576e-03 1.15538712e+02] [ 4.28515866e-03 3.15891183e-05 9.99990818e-01 7.59768979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.04, Y:115.56, Z:0.76 [[ 9.71545655e-02 -9.95269231e-01 -3.84155064e-04 1.67041949e+02] [ 9.95260081e-01 9.71553196e-02 -4.26802130e-03 1.15563447e+02] [ 4.28515299e-03 3.23235555e-05 9.99990818e-01 7.55361306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.04, Y:115.59, Z:0.76 [[ 9.73586702e-02 -9.95249287e-01 -3.82954998e-04 1.67043223e+02] [ 9.95240135e-01 9.73594173e-02 -4.26812898e-03 1.15588031e+02] [ 4.28513660e-03 3.44071774e-05 9.99990818e-01 7.55965293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.04, Y:115.61, Z:0.76 [[ 9.70196242e-02 -9.95282396e-01 -3.81757287e-04 1.67044829e+02] [ 9.95273244e-01 9.70203692e-02 -4.26823610e-03 1.15611253e+02] [ 4.28513849e-03 3.41498490e-05 9.99990818e-01 7.55288076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97862385300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.05, Y:115.64, Z:0.76 [[ 9.68258223e-02 -9.95301269e-01 -3.80516547e-04 1.67046558e+02] [ 9.95292117e-01 9.68265638e-02 -4.26834671e-03 1.15636172e+02] [ 4.28513501e-03 3.45610614e-05 9.99990818e-01 7.55828076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.05, Y:115.66, Z:0.76 [[ 9.71102884e-02 -9.95273554e-01 -3.79308713e-04 1.67048363e+02] [ 9.95264402e-01 9.71110222e-02 -4.26845405e-03 1.15660862e+02] [ 4.28511449e-03 3.69983444e-05 9.99990818e-01 7.56496031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.05, Y:115.68, Z:0.76 [[ 9.68587583e-02 -9.95298065e-01 -3.78060485e-04 1.67050035e+02] [ 9.95288912e-01 9.68594890e-02 -4.26856460e-03 1.15684240e+02] [ 4.28511283e-03 3.71684584e-05 9.99990818e-01 7.55864237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.05, Y:115.71, Z:0.76 [[ 9.66769679e-02 -9.95315740e-01 -3.76764108e-04 1.67050511e+02] [ 9.95306587e-01 9.66776947e-02 -4.26867902e-03 1.15708523e+02] [ 4.28510810e-03 3.76871459e-05 9.99990818e-01 7.56853637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.05, Y:115.73, Z:0.76 [[ 9.61783755e-02 -9.95364044e-01 -3.75553018e-04 1.67052081e+02] [ 9.95354890e-01 9.61791017e-02 -4.26878557e-03 1.15733207e+02] [ 4.28511602e-03 3.67563281e-05 9.99990818e-01 7.56639678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.05, Y:115.76, Z:0.76 [[ 9.55964681e-02 -9.95420100e-01 -3.74345659e-04 1.67054178e+02] [ 9.95410947e-01 9.55971944e-02 -4.26889144e-03 1.15756829e+02] [ 4.28512674e-03 3.54631774e-05 9.99990818e-01 7.56167035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.06, Y:115.78, Z:0.76 [[ 9.38996952e-02 -9.95581593e-01 -3.73095592e-04 1.67057607e+02] [ 9.95572441e-01 9.39004318e-02 -4.26900070e-03 1.15781686e+02] [ 4.28517235e-03 2.94141750e-05 9.99990818e-01 7.56086546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:115.81, Z:0.76 [[ 9.25806957e-02 -9.95705115e-01 -3.71889258e-04 1.67059732e+02] [ 9.95695964e-01 9.25814392e-02 -4.26910578e-03 1.15805195e+02] [ 4.28520051e-03 2.49481496e-05 9.99990818e-01 7.55947209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.06, Y:115.83, Z:0.75 [[ 8.99612975e-02 -9.95945193e-01 -3.70635763e-04 1.67061697e+02] [ 9.95936043e-01 8.99620597e-02 -4.26921460e-03 1.15828522e+02] [ 4.28524692e-03 1.49345698e-05 9.99990818e-01 7.54526884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.06, Y:115.85, Z:0.76 [[ 8.86250120e-02 -9.96064993e-01 -3.69395840e-04 1.67064048e+02] [ 9.96055844e-01 8.86257812e-02 -4.26932189e-03 1.15853190e+02] [ 4.28526007e-03 1.04298177e-05 9.99990818e-01 7.55792262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.07, Y:115.88, Z:0.75 [[ 8.72445218e-02 -9.96186859e-01 -3.68183363e-04 1.67066522e+02] [ 9.96177710e-01 8.72452985e-02 -4.26942645e-03 1.15876677e+02] [ 4.28526879e-03 5.70800976e-06 9.99990818e-01 7.54814159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.07, Y:115.90, Z:0.76 [[ 8.51391785e-02 -9.96369001e-01 -3.66925775e-04 1.67069536e+02] [ 9.96359853e-01 8.51399692e-02 -4.26953453e-03 1.15900688e+02] [ 4.28527190e-03 -2.08544867e-06 9.99990818e-01 7.57616715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.07, Y:115.92, Z:0.76 [[ 8.39403463e-02 -9.96470714e-01 -3.65706375e-04 1.67072017e+02] [ 9.96461567e-01 8.39411427e-02 -4.26963897e-03 1.15924268e+02] [ 4.28526801e-03 -6.01737338e-06 9.99990818e-01 7.55835791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.08, Y:115.95, Z:0.76 [[ 8.18823864e-02 -9.96641933e-01 -3.64445678e-04 1.67077126e+02] [ 9.96632787e-01 8.18831963e-02 -4.26974658e-03 1.15948983e+02] [ 4.28525046e-03 -1.36014726e-05 9.99990818e-01 7.56992242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.08, Y:115.97, Z:0.76 [[ 8.07633727e-02 -9.96733237e-01 -3.63211377e-04 1.67079928e+02] [ 9.96724091e-01 8.07641875e-02 -4.26985157e-03 1.15973177e+02] [ 4.28523745e-03 -1.71739164e-05 9.99990818e-01 7.60074699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.08, Y:116.00, Z:0.76 [[ 7.97132961e-02 -9.96817766e-01 -3.61984076e-04 1.67082692e+02] [ 9.96808621e-01 7.97141154e-02 -4.26995562e-03 1.15996454e+02] [ 4.28522286e-03 -2.04566118e-05 9.99990818e-01 7.55890816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.458623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.09, Y:116.02, Z:0.76 [[ 7.80632590e-02 -9.96948342e-01 -3.60710016e-04 1.67087063e+02] [ 9.96939198e-01 7.80640880e-02 -4.27006324e-03 1.16020885e+02] [ 4.28519097e-03 -2.62709010e-05 9.99990818e-01 7.56736405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.488623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.09, Y:116.05, Z:0.76 [[ 7.73136412e-02 -9.97006756e-01 -3.59448280e-04 1.67091018e+02] [ 9.96997612e-01 7.73144716e-02 -4.27016945e-03 1.16045679e+02] [ 4.28517835e-03 -2.82267278e-05 9.99990818e-01 7.57845785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.518623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:167.10, Y:116.07, Z:0.77 [[ 7.69049615e-02 -9.97038364e-01 -3.58186899e-04 1.67095462e+02] [ 9.97029219e-01 7.69057903e-02 -4.27027525e-03 1.16069233e+02] [ 4.28517490e-03 -2.87174501e-05 9.99990818e-01 7.66366744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.10, Y:116.09, Z:0.76 [[ 7.68150210e-02 -9.97045298e-01 -3.56882080e-04 1.67099278e+02] [ 9.97036153e-01 7.68158450e-02 -4.27038430e-03 1.16092703e+02] [ 4.28518078e-03 -2.77946768e-05 9.99990818e-01 7.59110328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.578623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.10, Y:116.12, Z:0.76 [[ 7.75847693e-02 -9.96985696e-01 -3.55608788e-04 1.67104868e+02] [ 9.96976550e-01 7.75855808e-02 -4.27049033e-03 1.16116611e+02] [ 4.28520788e-03 -2.32086161e-05 9.99990818e-01 7.61270262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.608623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.11, Y:116.14, Z:0.76 [[ 7.80318378e-02 -9.96950805e-01 -3.54378801e-04 1.67108092e+02] [ 9.96941658e-01 7.80326399e-02 -4.27059239e-03 1.16140300e+02] [ 4.28522364e-03 -2.00528166e-05 9.99990818e-01 7.61601581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.638623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.11, Y:116.16, Z:0.76 [[ 7.87964077e-02 -9.96890667e-01 -3.53105712e-04 1.67111161e+02] [ 9.96881519e-01 7.87971974e-02 -4.27069765e-03 1.16164867e+02] [ 4.28524237e-03 -1.54889246e-05 9.99990818e-01 7.62187566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.668623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.11, Y:116.19, Z:0.76 [[ 7.97445591e-02 -9.96815270e-01 -3.51895880e-04 1.67114087e+02] [ 9.96806121e-01 7.97453348e-02 -4.27079734e-03 1.16189034e+02] [ 4.28525806e-03 -1.01991162e-05 9.99990818e-01 7.62440244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.12, Y:116.21, Z:0.76 [[ 8.20227515e-02 -9.96630396e-01 -3.50681887e-04 1.67118377e+02] [ 9.96621244e-01 8.20235011e-02 -4.27089702e-03 1.16213431e+02] [ 4.28526994e-03 8.13706212e-07 9.99990818e-01 7.60672048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.12, Y:116.24, Z:0.76 [[ 8.48257129e-02 -9.96395743e-01 -3.49473689e-04 1.67122539e+02] [ 9.96386589e-01 8.48264316e-02 -4.27099588e-03 1.16237394e+02] [ 4.28524672e-03 1.40793735e-05 9.99990818e-01 7.59235138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.13, Y:116.26, Z:0.76 [[ 8.63453440e-02 -9.96265206e-01 -3.48258293e-04 1.67125005e+02] [ 9.96256051e-01 8.63460436e-02 -4.27109498e-03 1.16260654e+02] [ 4.28521405e-03 2.18347341e-05 9.99990818e-01 7.58319331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.13, Y:116.29, Z:0.76 [[ 8.78015087e-02 -9.96137930e-01 -3.47002218e-04 1.67127563e+02] [ 9.96128773e-01 8.78021895e-02 -4.27119703e-03 1.16285487e+02] [ 4.28516892e-03 2.93586492e-05 9.99990818e-01 7.59338057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.13, Y:116.31, Z:0.76 [[ 9.08190415e-02 -9.95867352e-01 -3.45770022e-04 1.67129826e+02] [ 9.95858193e-01 9.08196893e-02 -4.27129678e-03 1.16309639e+02] [ 4.28504774e-03 4.35771699e-05 9.99990818e-01 7.59893232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.13, Y:116.33, Z:0.76 [[ 9.18425550e-02 -9.95773482e-01 -3.44530970e-04 1.67131667e+02] [ 9.95764322e-01 9.18431881e-02 -4.27139672e-03 1.16333955e+02] [ 4.28498640e-03 4.92243402e-05 9.99990818e-01 7.60471969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.13, Y:116.36, Z:0.76 [[ 9.35579290e-02 -9.95613779e-01 -3.43287555e-04 1.67133799e+02] [ 9.95604617e-01 9.35585409e-02 -4.27149665e-03 1.16358402e+02] [ 4.28487840e-03 5.78537055e-05 9.99990818e-01 7.59608436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.14, Y:116.38, Z:0.76 [[ 9.41078140e-02 -9.95561953e-01 -3.42033389e-04 1.67135413e+02] [ 9.95552791e-01 9.41084154e-02 -4.27159707e-03 1.16381672e+02] [ 4.28482774e-03 6.14783672e-05 9.99990818e-01 7.59653448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.14, Y:116.40, Z:0.76 [[ 9.45760271e-02 -9.95517584e-01 -3.40730047e-04 1.67136678e+02] [ 9.95508421e-01 9.45766187e-02 -4.27170103e-03 1.16404933e+02] [ 4.28477858e-03 6.48008811e-05 9.99990818e-01 7.59701309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.14, Y:116.43, Z:0.76 [[ 9.53411129e-02 -9.95444603e-01 -3.39458052e-04 1.67137482e+02] [ 9.95435439e-01 9.53416919e-02 -4.27180211e-03 1.16430020e+02] [ 4.28470686e-03 6.93697923e-05 9.99990818e-01 7.60616469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.14, Y:116.45, Z:0.76 [[ 9.51642533e-02 -9.95461526e-01 -3.38268056e-04 1.67140035e+02] [ 9.95452363e-01 9.51648289e-02 -4.27189634e-03 1.16454280e+02] [ 4.28469967e-03 6.98020896e-05 9.99990818e-01 7.61767245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.14, Y:116.48, Z:0.76 [[ 9.44319155e-02 -9.95531265e-01 -3.37060419e-04 1.67141974e+02] [ 9.95522101e-01 9.44324927e-02 -4.27199162e-03 1.16478529e+02] [ 4.28473068e-03 6.78612550e-05 9.99990818e-01 7.62140317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.14, Y:116.50, Z:0.76 [[ 9.36850305e-02 -9.95601829e-01 -3.35851912e-04 1.67143697e+02] [ 9.95592666e-01 9.36856094e-02 -4.27208663e-03 1.16501832e+02] [ 4.28476175e-03 6.58588657e-05 9.99990818e-01 7.61481262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.15, Y:116.53, Z:0.76 [[ 9.24214367e-02 -9.95719924e-01 -3.34711214e-04 1.67145305e+02] [ 9.95710760e-01 9.24220223e-02 -4.27217600e-03 1.16526660e+02] [ 4.28482545e-03 6.15650863e-05 9.99990818e-01 7.61516374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.15, Y:116.55, Z:0.76 [[ 8.94478373e-02 -9.95991452e-01 -3.33511540e-04 1.67146830e+02] [ 9.95982291e-01 8.94484451e-02 -4.27226965e-03 1.16550762e+02] [ 4.28497614e-03 4.99736929e-05 9.99990818e-01 7.61589712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.15, Y:116.58, Z:0.76 [[ 8.78611694e-02 -9.96132674e-01 -3.32267168e-04 1.67148036e+02] [ 9.96123513e-01 8.78617865e-02 -4.27236643e-03 1.16575191e+02] [ 4.28503738e-03 4.43959714e-05 9.99990818e-01 7.62290074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.15, Y:116.60, Z:0.76 [[ 8.51701997e-02 -9.96366362e-01 -3.31069102e-04 1.67149148e+02] [ 9.96357202e-01 8.51708363e-02 -4.27245926e-03 1.16598683e+02] [ 4.28513213e-03 3.40231242e-05 9.99990818e-01 7.61199302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.208623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.15, Y:116.62, Z:0.76 [[ 8.37504193e-02 -9.96486708e-01 -3.29939406e-04 1.67151489e+02] [ 9.96477548e-01 8.37510641e-02 -4.27254650e-03 1.16623120e+02] [ 4.28516857e-03 2.90503501e-05 9.99990818e-01 7.61711719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:116.65, Z:0.76 [[ 8.23969722e-02 -9.96599534e-01 -3.28795971e-04 1.67154055e+02] [ 9.96590375e-01 8.23976246e-02 -4.27263450e-03 1.16647466e+02] [ 4.28519755e-03 2.43772452e-05 9.99990818e-01 7.62420409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:116.67, Z:0.76 [[ 8.21136903e-02 -9.96622915e-01 -3.27578264e-04 1.67155615e+02] [ 9.96613756e-01 8.21143401e-02 -4.27272785e-03 1.16672599e+02] [ 4.28519736e-03 2.43804473e-05 9.99990818e-01 7.62528153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:116.70, Z:0.76 [[ 7.97018642e-02 -9.96818693e-01 -3.26363725e-04 1.67158128e+02] [ 9.96809535e-01 7.97025310e-02 -4.27282062e-03 1.16697231e+02] [ 4.28523948e-03 1.52292964e-05 9.99990818e-01 7.61608788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:116.72, Z:0.76 [[ 7.83984345e-02 -9.96922053e-01 -3.25146709e-04 1.67159867e+02] [ 9.96912896e-01 7.83991080e-02 -4.27291323e-03 1.16720499e+02] [ 4.28525264e-03 1.08467609e-05 9.99990818e-01 7.59678301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:116.74, Z:0.76 [[ 7.61273412e-02 -9.97098051e-01 -3.23879593e-04 1.67161868e+02] [ 9.97088895e-01 7.61280302e-02 -4.27300927e-03 1.16744716e+02] [ 4.28526553e-03 2.35608948e-06 9.99990818e-01 7.60454754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.16, Y:116.77, Z:0.76 [[ 7.50052376e-02 -9.97183088e-01 -3.22667525e-04 1.67164044e+02] [ 9.97173932e-01 7.50059316e-02 -4.27310080e-03 1.16768099e+02] [ 4.28526583e-03 -1.25070386e-06 9.99990818e-01 7.61472202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.17, Y:116.79, Z:0.76 [[ 7.41533698e-02 -9.97246797e-01 -3.21522016e-04 1.67166714e+02] [ 9.97237642e-01 7.41540667e-02 -4.27318699e-03 1.16793091e+02] [ 4.28526420e-03 -3.76264224e-06 9.99990818e-01 7.62469381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:116.82, Z:0.76 [[ 7.32681541e-02 -9.97312225e-01 -3.20318591e-04 1.67169546e+02] [ 9.97303070e-01 7.32688540e-02 -4.27327720e-03 1.16816224e+02] [ 4.28526097e-03 -6.35958175e-06 9.99990818e-01 7.64782777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47862385300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:167.17, Y:116.84, Z:0.77 [[ 7.31239604e-02 -9.97322809e-01 -3.19067243e-04 1.67171731e+02] [ 9.97313653e-01 7.31246563e-02 -4.27337063e-03 1.16841091e+02] [ 4.28526168e-03 -5.72433358e-06 9.99990818e-01 7.65121117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.17, Y:116.87, Z:0.76 [[ 7.37314943e-02 -9.97278078e-01 -3.17874221e-04 1.67173676e+02] [ 9.97268922e-01 7.37321795e-02 -4.27345937e-03 1.16866153e+02] [ 4.28526491e-03 -1.91753704e-06 9.99990818e-01 7.64491087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:116.89, Z:0.76 [[ 7.40529656e-02 -9.97254260e-01 -3.16675020e-04 1.67175076e+02] [ 9.97245103e-01 7.40536426e-02 -4.27354823e-03 1.16889773e+02] [ 4.28526511e-03 6.66307259e-07 9.99990818e-01 7.63961564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.18, Y:116.91, Z:0.76 [[ 7.51682957e-02 -9.97170812e-01 -3.15430782e-04 1.67178259e+02] [ 9.97161654e-01 7.51689573e-02 -4.27364006e-03 1.16914427e+02] [ 4.28525974e-03 6.70676005e-06 9.99990818e-01 7.62962395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:167.18, Y:116.94, Z:0.77 [[ 7.56269119e-02 -9.97136135e-01 -3.14238982e-04 1.67180514e+02] [ 9.97126976e-01 7.56275641e-02 -4.27372770e-03 1.16937966e+02] [ 4.28525344e-03 9.87266177e-06 9.99990818e-01 7.68138283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.18, Y:116.96, Z:0.76 [[ 7.55904879e-02 -9.97138897e-01 -3.13006752e-04 1.67182507e+02] [ 9.97129738e-01 7.55911352e-02 -4.27381794e-03 1.16961752e+02] [ 4.28525064e-03 1.09516428e-05 9.99990818e-01 7.61704990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.18, Y:116.98, Z:0.76 [[ 7.65683377e-02 -9.97064287e-01 -3.11733915e-04 1.67184763e+02] [ 9.97055127e-01 7.65689705e-02 -4.27391078e-03 1.16984854e+02] [ 4.28523295e-03 1.64303453e-05 9.99990818e-01 7.62225297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.19, Y:117.01, Z:0.76 [[ 7.71722116e-02 -9.97017730e-01 -3.10421299e-04 1.67186685e+02] [ 9.97008569e-01 7.71728333e-02 -4.27400612e-03 1.17007589e+02] [ 4.28521597e-03 2.03418094e-05 9.99990818e-01 7.62288202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:117.03, Z:0.76 [[ 7.90525927e-02 -9.96870399e-01 -3.09129858e-04 1.67187871e+02] [ 9.96861237e-01 7.90531915e-02 -4.27409952e-03 1.17031205e+02] [ 4.28516100e-03 2.97190764e-05 9.99990818e-01 7.63537650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.19, Y:117.06, Z:0.77 [[ 8.03809962e-02 -9.96764165e-01 -3.07889012e-04 1.67188913e+02] [ 9.96755002e-01 8.03815775e-02 -4.27418891e-03 1.17055512e+02] [ 4.28510694e-03 3.66736489e-05 9.99990818e-01 7.67027790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.19, Y:117.08, Z:0.76 [[ 8.14977446e-02 -9.96673479e-01 -3.06645449e-04 1.67189860e+02] [ 9.96664315e-01 8.14983103e-02 -4.27427812e-03 1.17078485e+02] [ 4.28505073e-03 4.27214504e-05 9.99990818e-01 7.64193093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:117.10, Z:0.77 [[ 8.48776841e-02 -9.96391332e-01 -3.05361215e-04 1.67190892e+02] [ 9.96382165e-01 8.48782132e-02 -4.27436987e-03 1.17103420e+02] [ 4.28486360e-03 5.85421464e-05 9.99990818e-01 7.67169505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.19, Y:117.13, Z:0.77 [[ 8.62065382e-02 -9.96277241e-01 -3.04155052e-04 1.67191769e+02] [ 9.96268073e-01 8.62070499e-02 -4.27445569e-03 1.17127049e+02] [ 4.28476323e-03 6.54660602e-05 9.99990818e-01 7.66285454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.19, Y:117.15, Z:0.77 [[ 8.90126405e-02 -9.96030450e-01 -3.02904225e-04 1.67191180e+02] [ 9.96021281e-01 8.90131210e-02 -4.27454433e-03 1.17150851e+02] [ 4.28453876e-03 7.87894230e-05 9.99990818e-01 7.66661335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:117.18, Z:0.77 [[ 8.97931724e-02 -9.95960388e-01 -3.01667229e-04 1.67190940e+02] [ 9.95951219e-01 8.97936404e-02 -4.27463163e-03 1.17175917e+02] [ 4.28445157e-03 8.33868906e-05 9.99990818e-01 7.67008159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.928623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.19, Y:117.20, Z:0.77 [[ 9.04556418e-02 -9.95900440e-01 -3.00477266e-04 1.67190569e+02] [ 9.95891270e-01 9.04560986e-02 -4.27471527e-03 1.17200104e+02] [ 4.28437082e-03 8.74294272e-05 9.99990818e-01 7.66202633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.19, Y:117.22, Z:0.77 [[ 9.16055585e-02 -9.95795326e-01 -2.99244505e-04 1.67188708e+02] [ 9.95786155e-01 9.16059994e-02 -4.27480157e-03 1.17224905e+02] [ 4.28424001e-03 9.36120498e-05 9.99990818e-01 7.65599868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:117.25, Z:0.76 [[ 9.16577944e-02 -9.95790520e-01 -2.98008748e-04 1.67188104e+02] [ 9.95781349e-01 9.16582295e-02 -4.27488771e-03 1.17248760e+02] [ 4.28420761e-03 9.50752257e-05 9.99990818e-01 7.64082843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:117.27, Z:0.77 [[ 9.19722872e-02 -9.95761523e-01 -2.96847157e-04 1.67186381e+02] [ 9.95752351e-01 9.19727144e-02 -4.27496837e-03 1.17273827e+02] [ 4.28415085e-03 9.75923645e-05 9.99990818e-01 7.65406190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:117.30, Z:0.76 [[ 9.19186207e-02 -9.95766479e-01 -2.95639741e-04 1.67186247e+02] [ 9.95757307e-01 9.19190433e-02 -4.27505187e-03 1.17297339e+02] [ 4.28412827e-03 9.85714390e-05 9.99990818e-01 7.63297690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.19, Y:117.32, Z:0.77 [[ 9.15307244e-02 -9.95802209e-01 -2.94501490e-04 1.67185539e+02] [ 9.95793037e-01 9.15311457e-02 -4.27513028e-03 1.17321879e+02] [ 4.28414024e-03 9.80432389e-05 9.99990818e-01 7.65876928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.108623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.18, Y:117.35, Z:0.77 [[ 9.05417950e-02 -9.95892613e-01 -2.93308931e-04 1.67182381e+02] [ 9.95883441e-01 9.05422203e-02 -4.27521210e-03 1.17346944e+02] [ 4.28420899e-03 9.49838702e-05 9.99990818e-01 7.66147121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.138623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.18, Y:117.37, Z:0.77 [[ 8.98119332e-02 -9.95958700e-01 -2.92112685e-04 1.67181334e+02] [ 9.95949528e-01 8.98123600e-02 -4.27529383e-03 1.17371603e+02] [ 4.28425142e-03 9.30429134e-05 9.99990818e-01 7.66262442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.168623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.18, Y:117.40, Z:0.76 [[ 8.79453476e-02 -9.96125259e-01 -2.90916177e-04 1.67177274e+02] [ 9.96116088e-01 8.79457865e-02 -4.27537525e-03 1.17395812e+02] [ 4.28439413e-03 8.62130782e-05 9.99990818e-01 7.64414687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:117.42, Z:0.76 [[ 8.65632025e-02 -9.96246319e-01 -2.89680207e-04 1.67176532e+02] [ 9.96237148e-01 8.65636488e-02 -4.27545899e-03 1.17420350e+02] [ 4.28448606e-03 8.15072391e-05 9.99990818e-01 7.63946379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:117.45, Z:0.76 [[ 8.31888184e-02 -9.96533761e-01 -2.88516491e-04 1.67173899e+02] [ 9.96524592e-01 8.31892908e-02 -4.27553752e-03 1.17445365e+02] [ 4.28471897e-03 6.81631359e-05 9.99990818e-01 7.64121612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.17, Y:117.47, Z:0.76 [[ 8.12020940e-02 -9.96697616e-01 -2.87322044e-04 1.67172801e+02] [ 9.96688447e-01 8.12025795e-02 -4.27561779e-03 1.17469597e+02] [ 4.28482935e-03 6.08185560e-05 9.99990818e-01 7.63910866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:167.17, Y:117.49, Z:0.77 [[ 7.91623822e-02 -9.96861693e-01 -2.86084412e-04 1.67172020e+02] [ 9.96852525e-01 7.91628812e-02 -4.27570060e-03 1.17493219e+02] [ 4.28492940e-03 5.32906769e-05 9.99990818e-01 7.71578507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.17, Y:117.52, Z:0.76 [[ 7.48800852e-02 -9.97192505e-01 -2.84916354e-04 1.67170275e+02] [ 9.97183339e-01 7.48806185e-02 -4.27577843e-03 1.17516267e+02] [ 4.28510892e-03 3.60568114e-05 9.99990818e-01 7.63036549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:117.54, Z:0.76 [[ 7.28359412e-02 -9.97343895e-01 -2.83625343e-04 1.67169542e+02] [ 9.97334730e-01 7.28364878e-02 -4.27586406e-03 1.17539050e+02] [ 4.28516520e-03 2.85671786e-05 9.99990818e-01 7.61828297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:117.56, Z:0.77 [[ 6.94849440e-02 -9.97582960e-01 -2.82396248e-04 1.67167242e+02] [ 9.97573796e-01 6.94855161e-02 -4.27594524e-03 1.17564356e+02] [ 4.28523256e-03 1.54027182e-05 9.99990818e-01 7.66044116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.17, Y:117.59, Z:0.77 [[ 6.78377587e-02 -9.97696326e-01 -2.81175884e-04 1.67166901e+02] [ 9.97687163e-01 6.78383407e-02 -4.27602548e-03 1.17587634e+02] [ 4.28524942e-03 9.55041475e-06 9.99990818e-01 7.66387321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.17, Y:117.61, Z:0.77 [[ 6.53789104e-02 -9.97860471e-01 -2.79911809e-04 1.67165536e+02] [ 9.97851309e-01 6.53795096e-02 -4.27610823e-03 1.17612666e+02] [ 4.28525987e-03 2.56932233e-07 9.99990818e-01 7.67374423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:117.64, Z:0.77 [[ 6.46373964e-02 -9.97908778e-01 -2.78712348e-04 1.67165121e+02] [ 9.97899616e-01 6.46379973e-02 -4.27618641e-03 1.17637735e+02] [ 4.28525936e-03 -1.72538902e-06 9.99990818e-01 7.67587329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.16, Y:117.66, Z:0.77 [[ 6.37373975e-02 -9.97966666e-01 -2.77509644e-04 1.67163198e+02] [ 9.97957504e-01 6.37380015e-02 -4.27626446e-03 1.17662098e+02] [ 4.28525730e-03 -4.38486414e-06 9.99990818e-01 7.67845488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.16, Y:117.69, Z:0.77 [[ 6.34183994e-02 -9.97986989e-01 -2.76263663e-04 1.67163282e+02] [ 9.97977827e-01 6.34190009e-02 -4.27634495e-03 1.17687100e+02] [ 4.28525699e-03 -4.50605761e-06 9.99990818e-01 7.67745469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.16, Y:117.71, Z:0.77 [[ 6.33006909e-02 -9.97994462e-01 -2.75014560e-04 1.67162613e+02] [ 9.97985300e-01 6.33012882e-02 -4.27642528e-03 1.17710460e+02] [ 4.28525753e-03 -3.75981300e-06 9.99990818e-01 7.67997479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.16, Y:117.73, Z:0.77 [[ 6.35488031e-02 -9.97978695e-01 -2.73720609e-04 1.67161907e+02] [ 9.97969532e-01 6.35493925e-02 -4.27650810e-03 1.17734679e+02] [ 4.28525875e-03 -1.39785732e-06 9.99990818e-01 7.68058792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:117.76, Z:0.77 [[ 6.45211529e-02 -9.97916302e-01 -2.72568578e-04 1.67159519e+02] [ 9.97907139e-01 6.45217285e-02 -4.27658153e-03 1.17759171e+02] [ 4.28525702e-03 3.93184111e-06 9.99990818e-01 7.67935057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.16, Y:117.78, Z:0.77 [[ 6.49024473e-02 -9.97891577e-01 -2.71352700e-04 1.67159324e+02] [ 9.97882412e-01 6.49030142e-02 -4.27665867e-03 1.17783986e+02] [ 4.28525327e-03 6.78752710e-06 9.99990818e-01 7.68522929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.16, Y:117.81, Z:0.77 [[ 6.55918050e-02 -9.97846502e-01 -2.70130524e-04 1.67156581e+02] [ 9.97837337e-01 6.55923603e-02 -4.27673587e-03 1.17807978e+02] [ 4.28524443e-03 1.09725021e-05 9.99990818e-01 7.68848900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:117.83, Z:0.77 [[ 6.55775736e-02 -9.97847438e-01 -2.68869657e-04 1.67155742e+02] [ 9.97838273e-01 6.55781237e-02 -4.27681514e-03 1.17832379e+02] [ 4.28524099e-03 1.21747255e-05 9.99990818e-01 7.68689928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:117.86, Z:0.77 [[ 6.49751071e-02 -9.97886849e-01 -2.67665456e-04 1.67154208e+02] [ 9.97877684e-01 6.49756575e-02 -4.27689050e-03 1.17857055e+02] [ 4.28524452e-03 1.07940325e-05 9.99990818e-01 7.69672811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:117.88, Z:0.77 [[ 6.44649076e-02 -9.97919939e-01 -2.66446541e-04 1.67153656e+02] [ 9.97910774e-01 6.44654574e-02 -4.27696644e-03 1.17881913e+02] [ 4.28524668e-03 9.82437184e-06 9.99990818e-01 7.70651390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:117.91, Z:0.77 [[ 6.36294219e-02 -9.97973560e-01 -2.65224278e-04 1.67152858e+02] [ 9.97964395e-01 6.36299742e-02 -4.27704223e-03 1.17905527e+02] [ 4.28525127e-03 7.46133867e-06 9.99990818e-01 7.70706110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.828623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.15, Y:117.93, Z:0.77 [[ 6.17917266e-02 -9.98089031e-01 -2.63954793e-04 1.67151536e+02] [ 9.98079866e-01 6.17922903e-02 -4.27712057e-03 1.17930811e+02] [ 4.28525750e-03 8.42700983e-07 9.99990818e-01 7.69878719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.858623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.15, Y:117.96, Z:0.78 [[ 6.05798200e-02 -9.98163322e-01 -2.62740109e-04 1.67152025e+02] [ 9.98154157e-01 6.05803897e-02 -4.27719519e-03 1.17955326e+02] [ 4.28525626e-03 -3.14341702e-06 9.99990818e-01 7.78483286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.15, Y:117.98, Z:0.77 [[ 5.81818599e-02 -9.98305967e-01 -2.61505055e-04 1.67150744e+02] [ 9.98296804e-01 5.81824463e-02 -4.27727070e-03 1.17979223e+02] [ 4.28523986e-03 -1.22000959e-05 9.99990818e-01 7.68836178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.15, Y:118.00, Z:0.77 [[ 5.66735326e-02 -9.98392730e-01 -2.60221532e-04 1.67150727e+02] [ 9.98383567e-01 5.66741274e-02 -4.27734878e-03 1.18003487e+02] [ 4.28522176e-03 -1.73884351e-05 9.99990818e-01 7.68868381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.15, Y:118.03, Z:0.77 [[ 5.39230128e-02 -9.98545062e-01 -2.59010069e-04 1.67150974e+02] [ 9.98535901e-01 5.39236275e-02 -4.27742214e-03 1.18027067e+02] [ 4.28516552e-03 -2.79793637e-05 9.99990818e-01 7.69987394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:118.05, Z:0.77 [[ 5.25446197e-02 -9.98618544e-01 -2.57754141e-04 1.67151549e+02] [ 9.98609383e-01 5.25452418e-02 -4.27749782e-03 1.18051263e+02] [ 4.28513240e-03 -3.26362077e-05 9.99990818e-01 7.71028790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.15, Y:118.08, Z:0.77 [[ 5.13557902e-02 -9.98680388e-01 -2.56544573e-04 1.67151606e+02] [ 9.98671228e-01 5.13564180e-02 -4.27757037e-03 1.18075812e+02] [ 4.28510084e-03 -3.65256768e-05 9.99990818e-01 7.72349100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:118.10, Z:0.77 [[ 4.94510295e-02 -9.98776517e-01 -2.55325961e-04 1.67150682e+02] [ 9.98767357e-01 4.94516696e-02 -4.27764310e-03 1.18099246e+02] [ 4.28503577e-03 -4.34773802e-05 9.99990818e-01 7.74131138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.15, Y:118.12, Z:0.77 [[ 4.84798764e-02 -9.98824127e-01 -2.54064568e-04 1.67151166e+02] [ 9.98814968e-01 4.84805199e-02 -4.27771802e-03 1.18122885e+02] [ 4.28500515e-03 -4.63802529e-05 9.99990818e-01 7.74608354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:118.15, Z:0.77 [[ 4.66603322e-02 -9.98910782e-01 -2.52909111e-04 1.67151664e+02] [ 9.98901623e-01 4.66609874e-02 -4.27778633e-03 1.18147610e+02] [ 4.28492788e-03 -5.30283907e-05 9.99990818e-01 7.73020411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.15, Y:118.17, Z:0.77 [[ 4.54034359e-02 -9.98968701e-01 -2.51727463e-04 1.67152226e+02] [ 9.98959543e-01 4.54040977e-02 -4.27785587e-03 1.18172116e+02] [ 4.28487357e-03 -5.72361969e-05 9.99990818e-01 7.73227873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:118.20, Z:0.77 [[ 4.35177903e-02 -9.99052621e-01 -2.50468822e-04 1.67153388e+02] [ 9.99043464e-01 4.35184639e-02 -4.27792956e-03 1.18195850e+02] [ 4.28477675e-03 -6.40631978e-05 9.99990818e-01 7.70508975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:118.22, Z:0.77 [[ 4.32216927e-02 -9.99065475e-01 -2.49286484e-04 1.67154377e+02] [ 9.99056318e-01 4.32223640e-02 -4.27799845e-03 1.18220156e+02] [ 4.28477531e-03 -6.41489021e-05 9.99990818e-01 7.70613151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.16, Y:118.24, Z:0.77 [[ 4.24896891e-02 -9.99096875e-01 -2.48018553e-04 1.67155314e+02] [ 9.99087718e-01 4.24903617e-02 -4.27807196e-03 1.18242845e+02] [ 4.28474672e-03 -6.60183422e-05 9.99990818e-01 7.69133440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.16, Y:118.27, Z:0.77 [[ 4.18132626e-02 -9.99125413e-01 -2.46708685e-04 1.67156317e+02] [ 9.99116256e-01 4.18139358e-02 -4.27814750e-03 1.18267560e+02] [ 4.28472175e-03 -6.76073530e-05 9.99990818e-01 7.69195918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.29, Z:0.77 [[ 4.08684655e-02 -9.99164505e-01 -2.45512101e-04 1.67157371e+02] [ 9.99155348e-01 4.08691422e-02 -4.27821617e-03 1.18290974e+02] [ 4.28467561e-03 -7.04605990e-05 9.99990818e-01 7.68563504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.32, Z:0.77 [[ 4.09212307e-02 -9.99162346e-01 -2.44273720e-04 1.67158609e+02] [ 9.99153189e-01 4.09219016e-02 -4.27828687e-03 1.18315550e+02] [ 4.28469929e-03 -6.89941024e-05 9.99990818e-01 7.70136557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.16, Y:118.34, Z:0.77 [[ 4.18605193e-02 -9.99123435e-01 -2.43029836e-04 1.67158524e+02] [ 9.99114277e-01 4.18611763e-02 -4.27835753e-03 1.18340610e+02] [ 4.28478079e-03 -6.37203104e-05 9.99990818e-01 7.70996593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.37, Z:0.77 [[ 4.26928083e-02 -9.99088217e-01 -2.41783247e-04 1.67159384e+02] [ 9.99079058e-01 4.26934523e-02 -4.27842798e-03 1.18365488e+02] [ 4.28484954e-03 -5.89024734e-05 9.99990818e-01 7.71703623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.16, Y:118.39, Z:0.77 [[ 4.51042383e-02 -9.98982257e-01 -2.40529399e-04 1.67159760e+02] [ 9.98973096e-01 4.51048549e-02 -4.27849847e-03 1.18388866e+02] [ 4.28499310e-03 -4.73039842e-05 9.99990818e-01 7.71332727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.41, Z:0.77 [[ 4.64254577e-02 -9.98921729e-01 -2.39233900e-04 1.67160089e+02] [ 9.98912566e-01 4.64260566e-02 -4.27857090e-03 1.18412283e+02] [ 4.28506413e-03 -4.03391367e-05 9.99990818e-01 7.71478315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.44, Z:0.77 [[ 4.74677076e-02 -9.98872745e-01 -2.38083842e-04 1.67160707e+02] [ 9.98863582e-01 4.74682919e-02 -4.27863490e-03 1.18436642e+02] [ 4.28511322e-03 -3.47162892e-05 9.99990818e-01 7.71499242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.488623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.16, Y:118.46, Z:0.78 [[ 4.92132234e-02 -9.98788267e-01 -2.36876371e-04 1.67161156e+02] [ 9.98779103e-01 4.92137866e-02 -4.27870175e-03 1.18460996e+02] [ 4.28517469e-03 -2.60184647e-05 9.99990818e-01 7.77866761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.49, Z:0.77 [[ 4.97061269e-02 -9.98763859e-01 -2.35650520e-04 1.67161780e+02] [ 9.98754694e-01 4.97066803e-02 -4.27876926e-03 1.18485963e+02] [ 4.28519350e-03 -2.26760149e-05 9.99990818e-01 7.72691041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.51, Z:0.77 [[ 4.97942555e-02 -9.98759469e-01 -2.34411970e-04 1.67162336e+02] [ 9.98750304e-01 4.97948028e-02 -4.27883711e-03 1.18509433e+02] [ 4.28520158e-03 -2.10575175e-05 9.99990818e-01 7.71506562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.53, Z:0.77 [[ 4.93941492e-02 -9.98779337e-01 -2.33245211e-04 1.67163204e+02] [ 9.98770171e-01 4.93946952e-02 -4.27890071e-03 1.18532988e+02] [ 4.28519869e-03 -2.16056988e-05 9.99990818e-01 7.70534038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.608623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.16, Y:118.56, Z:0.77 [[ 4.87851980e-02 -9.98809266e-01 -2.31971711e-04 1.67164545e+02] [ 9.98800101e-01 4.87857441e-02 -4.27896975e-03 1.18557716e+02] [ 4.28519155e-03 -2.29429820e-05 9.99990818e-01 7.71309599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.58, Z:0.77 [[ 4.83509077e-02 -9.98830384e-01 -2.30719255e-04 1.67165256e+02] [ 9.98821219e-01 4.83514525e-02 -4.27903728e-03 1.18581583e+02] [ 4.28518806e-03 -2.35519502e-05 9.99990818e-01 7.71722501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.61, Z:0.77 [[ 4.81426832e-02 -9.98840442e-01 -2.29422393e-04 1.67165725e+02] [ 9.98831277e-01 4.81432243e-02 -4.27910681e-03 1.18605887e+02] [ 4.28519008e-03 -2.31465785e-05 9.99990818e-01 7.73090804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.63, Z:0.77 [[ 4.79161705e-02 -9.98851335e-01 -2.28160371e-04 1.67165339e+02] [ 9.98842169e-01 4.79167082e-02 -4.27917410e-03 1.18629607e+02] [ 4.28519146e-03 -2.28545637e-05 9.99990818e-01 7.74567397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.65, Z:0.77 [[ 4.77416206e-02 -9.98859693e-01 -2.26850399e-04 1.67165799e+02] [ 9.98850527e-01 4.77421544e-02 -4.27924355e-03 1.18653553e+02] [ 4.28519422e-03 -2.22916182e-05 9.99990818e-01 7.73100176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.68, Z:0.77 [[ 4.74690660e-02 -9.98872683e-01 -2.25551724e-04 1.67165034e+02] [ 9.98863517e-01 4.74695967e-02 -4.27931200e-03 1.18678098e+02] [ 4.28519471e-03 -2.21604446e-05 9.99990818e-01 7.72288705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.70, Z:0.77 [[ 4.68039491e-02 -9.98904070e-01 -2.24343819e-04 1.67165011e+02] [ 9.98894903e-01 4.68044807e-02 -4.27937532e-03 1.18703205e+02] [ 4.28518572e-03 -2.38042331e-05 9.99990818e-01 7.72315744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.73, Z:0.77 [[ 4.56028040e-02 -9.98959626e-01 -2.23118278e-04 1.67164492e+02] [ 9.98950460e-01 4.56033414e-02 -4.27943922e-03 1.18727563e+02] [ 4.28516194e-03 -2.77296782e-05 9.99990818e-01 7.72642169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.75, Z:0.77 [[ 4.42736778e-02 -9.99019415e-01 -2.21873801e-04 1.67164445e+02] [ 9.99010250e-01 4.42742221e-02 -4.27950374e-03 1.18750947e+02] [ 4.28513061e-03 -3.21848320e-05 9.99990818e-01 7.73038537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.16, Y:118.78, Z:0.77 [[ 4.28179774e-02 -9.99082866e-01 -2.20702846e-04 1.67164561e+02] [ 9.99073700e-01 4.28185300e-02 -4.27956413e-03 1.18776036e+02] [ 4.28508936e-03 -3.72561292e-05 9.99990818e-01 7.73911679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.16, Y:118.80, Z:0.77 [[ 3.90536027e-02 -9.99237093e-01 -2.19468616e-04 1.67164761e+02] [ 9.99227930e-01 3.90541846e-02 -4.27962742e-03 1.18799903e+02] [ 4.28493363e-03 -5.21643021e-05 9.99990818e-01 7.74392138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.82, Z:0.77 [[ 3.70193577e-02 -9.99314525e-01 -2.18189350e-04 1.67165727e+02] [ 9.99305362e-01 3.70199527e-02 -4.27969264e-03 1.18823328e+02] [ 4.28483638e-03 -5.96063142e-05 9.99990818e-01 7.74936976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.85, Z:0.78 [[ 3.31643755e-02 -9.99449887e-01 -2.16947499e-04 1.67165749e+02] [ 9.99440727e-01 3.31650005e-02 -4.27975559e-03 1.18847977e+02] [ 4.28459631e-03 -7.48907447e-05 9.99990818e-01 7.76339474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.17, Y:118.87, Z:0.78 [[ 3.12010095e-02 -9.99513107e-01 -2.15751532e-04 1.67165780e+02] [ 9.99503947e-01 3.12016474e-02 -4.27981588e-03 1.18872224e+02] [ 4.28446387e-03 -8.21099319e-05 9.99990818e-01 7.84393958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.90, Z:0.78 [[ 2.97185584e-02 -9.99558283e-01 -2.14544923e-04 1.67167025e+02] [ 9.99549124e-01 2.97192047e-02 -4.27987637e-03 1.18896308e+02] [ 4.28436198e-03 -8.72564345e-05 9.99990818e-01 7.75752434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.92, Z:0.77 [[ 2.76779364e-02 -9.99616870e-01 -2.13404251e-04 1.67168897e+02] [ 9.99607712e-01 2.76785966e-02 -4.27993324e-03 1.18921353e+02] [ 4.28420020e-03 -9.48608146e-05 9.99990818e-01 7.74395292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.95, Z:0.77 [[ 2.67097836e-02 -9.99643208e-01 -2.12214347e-04 1.67169542e+02] [ 9.99634050e-01 2.67104475e-02 -4.27999224e-03 1.18946124e+02] [ 4.28413351e-03 -9.78190208e-05 9.99990818e-01 7.74025978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.17, Y:118.97, Z:0.77 [[ 2.54746105e-02 -9.99675447e-01 -2.11027343e-04 1.67170258e+02] [ 9.99666290e-01 2.54752806e-02 -4.28005077e-03 1.18970841e+02] [ 4.28403765e-03 -1.01924295e-04 9.99990818e-01 7.73613025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:118.99, Z:0.77 [[ 2.47443271e-02 -9.99693790e-01 -2.09827372e-04 1.67171369e+02] [ 9.99684633e-01 2.47449988e-02 -4.28010959e-03 1.18994091e+02] [ 4.28399116e-03 -1.03852768e-04 9.99990818e-01 7.73222939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.17, Y:119.02, Z:0.77 [[ 2.41290857e-02 -9.99708830e-01 -2.08586752e-04 1.67172549e+02] [ 9.99699672e-01 2.41297577e-02 -4.28017005e-03 1.19018371e+02] [ 4.28395694e-03 -1.05247518e-04 9.99990818e-01 7.73019842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.208623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.17, Y:119.04, Z:0.78 [[ 2.33921912e-02 -9.99726344e-01 -2.07364690e-04 1.67174100e+02] [ 9.99717187e-01 2.33928647e-02 -4.28022926e-03 1.19041564e+02] [ 4.28390880e-03 -1.07182104e-04 9.99990818e-01 7.82519499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:119.07, Z:0.77 [[ 2.38665360e-02 -9.99715132e-01 -2.06099378e-04 1.67175917e+02] [ 9.99705975e-01 2.38671998e-02 -4.28029018e-03 1.19065049e+02] [ 4.28398988e-03 -1.03883080e-04 9.99990818e-01 7.73415755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.268623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.18, Y:119.09, Z:0.78 [[ 2.58741790e-02 -9.99665186e-01 -2.04852428e-04 1.67176609e+02] [ 9.99656027e-01 2.58748190e-02 -4.28034986e-03 1.19089672e+02] [ 4.28421726e-03 -9.40314256e-05 9.99990818e-01 7.75885254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.298623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.18, Y:119.11, Z:0.78 [[ 2.69969966e-02 -9.99635494e-01 -2.03661936e-04 1.67176906e+02] [ 9.99626333e-01 2.69976213e-02 -4.28040651e-03 1.19112931e+02] [ 4.28434466e-03 -8.80277142e-05 9.99990818e-01 7.82199575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.328623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.18, Y:119.14, Z:0.78 [[ 2.83848626e-02 -9.99597048e-01 -2.02425362e-04 1.67177982e+02] [ 9.99587886e-01 2.83854693e-02 -4.28046498e-03 1.19137505e+02] [ 4.28448610e-03 -8.08415293e-05 9.99990818e-01 7.76270634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:119.16, Z:0.77 [[ 3.12103264e-02 -9.99512819e-01 -2.01191128e-04 1.67178685e+02] [ 9.99503655e-01 3.12109018e-02 -4.28052300e-03 1.19160806e+02] [ 4.28471696e-03 -6.74947485e-05 9.99990818e-01 7.74462198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.388623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.18, Y:119.19, Z:0.78 [[ 3.24511892e-02 -9.99473302e-01 -1.99909253e-04 1.67179225e+02] [ 9.99464137e-01 3.24517479e-02 -4.28058286e-03 1.19185396e+02] [ 4.28481569e-03 -6.08921250e-05 9.99990818e-01 7.81244622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.18, Y:119.21, Z:0.77 [[ 3.47935459e-02 -9.99394502e-01 -1.98678629e-04 1.67180412e+02] [ 9.99385335e-01 3.47940778e-02 -4.28063998e-03 1.19208864e+02] [ 4.28496090e-03 -4.96178643e-05 9.99990818e-01 7.73281935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:119.23, Z:0.77 [[ 3.53361984e-02 -9.99375462e-01 -1.97521912e-04 1.67180717e+02] [ 9.99366295e-01 3.53367204e-02 -4.28069335e-03 1.19233106e+02] [ 4.28499967e-03 -4.61333120e-05 9.99990818e-01 7.73926321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.18, Y:119.26, Z:0.77 [[ 3.58320717e-02 -9.99357806e-01 -1.96313974e-04 1.67180817e+02] [ 9.99348638e-01 3.58325839e-02 -4.28074875e-03 1.19258199e+02] [ 4.28503411e-03 -4.27980066e-05 9.99990818e-01 7.74941991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.18, Y:119.28, Z:0.77 [[ 3.71618344e-02 -9.99309241e-01 -1.95090523e-04 1.67181010e+02] [ 9.99300073e-01 3.71623292e-02 -4.28080450e-03 1.19282307e+02] [ 4.28509752e-03 -3.58714253e-05 9.99990818e-01 7.74790498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.18, Y:119.31, Z:0.78 [[ 3.75249933e-02 -9.99295671e-01 -1.93822228e-04 1.67181728e+02] [ 9.99286502e-01 3.75254793e-02 -4.28086193e-03 1.19306926e+02] [ 4.28512006e-03 -3.30446204e-05 9.99990818e-01 7.75546366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.18, Y:119.33, Z:0.78 [[ 3.78304668e-02 -9.99284153e-01 -1.92599856e-04 1.67182641e+02] [ 9.99274984e-01 3.78309448e-02 -4.28091692e-03 1.19332028e+02] [ 4.28513868e-03 -3.05111326e-05 9.99990818e-01 7.75963405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.18, Y:119.36, Z:0.78 [[ 3.76124507e-02 -9.99292383e-01 -1.91383359e-04 1.67183437e+02] [ 9.99283214e-01 3.76129255e-02 -4.28097131e-03 1.19355812e+02] [ 4.28514051e-03 -3.02283554e-05 9.99990818e-01 7.76429009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.18, Y:119.38, Z:0.78 [[ 3.67733240e-02 -9.99323615e-01 -1.90120111e-04 1.67182258e+02] [ 9.99314445e-01 3.67738010e-02 -4.28102741e-03 1.19380167e+02] [ 4.28512322e-03 -3.25621656e-05 9.99990818e-01 7.76633538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.18, Y:119.40, Z:0.78 [[ 3.63164338e-02 -9.99340323e-01 -1.88913406e-04 1.67181728e+02] [ 9.99331154e-01 3.63169098e-02 -4.28108066e-03 1.19403805e+02] [ 4.28511728e-03 -3.33134702e-05 9.99990818e-01 7.76140359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.18, Y:119.43, Z:0.78 [[ 3.57428892e-02 -9.99361001e-01 -1.87663396e-04 1.67181547e+02] [ 9.99351832e-01 3.57433652e-02 -4.28113545e-03 1.19428783e+02] [ 4.28510753e-03 -3.45216088e-05 9.99990818e-01 7.76432785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.18, Y:119.45, Z:0.78 [[ 3.46536559e-02 -9.99399364e-01 -1.86470230e-04 1.67181130e+02] [ 9.99390195e-01 3.46541368e-02 -4.28118742e-03 1.19453688e+02] [ 4.28507795e-03 -3.79977236e-05 9.99990818e-01 7.76356456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.18, Y:119.48, Z:0.78 [[ 3.40689545e-02 -9.99419468e-01 -1.85237798e-04 1.67181655e+02] [ 9.99410298e-01 3.40694355e-02 -4.28124074e-03 1.19477938e+02] [ 4.28506629e-03 -3.92711666e-05 9.99990818e-01 7.76644330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.18, Y:119.50, Z:0.78 [[ 3.26260060e-02 -9.99467613e-01 -1.84008729e-04 1.67181673e+02] [ 9.99458445e-01 3.26264949e-02 -4.28129357e-03 1.19501181e+02] [ 4.28501783e-03 -4.42275687e-05 9.99990818e-01 7.77399275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:119.53, Z:0.78 [[ 3.14239217e-02 -9.99506130e-01 -1.82733362e-04 1.67181164e+02] [ 9.99496962e-01 3.14244162e-02 -4.28134800e-03 1.19525881e+02] [ 4.28497586e-03 -4.81046956e-05 9.99990818e-01 7.78136817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.18, Y:119.55, Z:0.78 [[ 3.02526514e-02 -9.99542267e-01 -1.81527406e-04 1.67181193e+02] [ 9.99533099e-01 3.02531515e-02 -4.28139913e-03 1.19549351e+02] [ 4.28493117e-03 -5.19189755e-05 9.99990818e-01 7.78118085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.18, Y:119.57, Z:0.78 [[ 2.66006648e-02 -9.99646123e-01 -1.80387918e-04 1.67181118e+02] [ 9.99636957e-01 2.66011934e-02 -4.28144714e-03 1.19573522e+02] [ 4.28473057e-03 -6.64330891e-05 9.99990818e-01 7.79459183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.18, Y:119.60, Z:0.78 [[ 2.25662190e-02 -9.99745334e-01 -1.79152136e-04 1.67182199e+02] [ 9.99736170e-01 2.25667794e-02 -4.28149885e-03 1.19597769e+02] [ 4.28445139e-03 -8.24876296e-05 9.99990818e-01 7.78177838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.18, Y:119.62, Z:0.78 [[ 2.05073907e-02 -9.99789686e-01 -1.77968088e-04 1.67183859e+02] [ 9.99780522e-01 2.05079649e-02 -4.28154807e-03 1.19622756e+02] [ 4.28429736e-03 -9.01256485e-05 9.99990818e-01 7.77473680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.19, Y:119.65, Z:0.78 [[ 1.80342037e-02 -9.99837355e-01 -1.76786678e-04 1.67185282e+02] [ 9.99828192e-01 1.80347955e-02 -4.28159685e-03 1.19646998e+02] [ 4.28408878e-03 -9.95411152e-05 9.99990818e-01 7.77204453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.988623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.19, Y:119.67, Z:0.78 [[ 1.46878202e-02 -9.99892113e-01 -1.75596552e-04 1.67185691e+02] [ 9.99882952e-01 1.46884375e-02 -4.28164566e-03 1.19670361e+02] [ 4.28376296e-03 -1.12687957e-04 9.99990818e-01 7.84695277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.018623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.19, Y:119.69, Z:0.78 [[ 1.36528875e-02 -9.99906780e-01 -1.74358030e-04 1.67187013e+02] [ 9.99897619e-01 1.36535091e-02 -4.28169609e-03 1.19694942e+02] [ 4.28367755e-03 -1.15882664e-04 9.99990818e-01 7.77238632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.19, Y:119.72, Z:0.78 [[ 1.28267868e-02 -9.99917718e-01 -1.73185514e-04 1.67188837e+02] [ 9.99908558e-01 1.28274109e-02 -4.28174352e-03 1.19719778e+02] [ 4.28361273e-03 -1.18248666e-04 9.99990818e-01 7.78106183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.19, Y:119.74, Z:0.78 [[ 1.25378588e-02 -9.99921383e-01 -1.71950035e-04 1.67189498e+02] [ 9.99912223e-01 1.25384802e-02 -4.28179313e-03 1.19744924e+02] [ 4.28361251e-03 -1.18250424e-04 9.99990818e-01 7.78213930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10862385300004 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:167.19, Y:119.77, Z:0.79 [[ 1.25999582e-02 -9.99920603e-01 -1.70712780e-04 1.67190640e+02] [ 9.99911442e-01 1.26005738e-02 -4.28184246e-03 1.19769710e+02] [ 4.28365358e-03 -1.16746626e-04 9.99990818e-01 7.87611746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.19, Y:119.79, Z:0.78 [[ 1.30457762e-02 -9.99914886e-01 -1.69478915e-04 1.67192307e+02] [ 9.99905724e-01 1.30463824e-02 -4.28189130e-03 1.19793290e+02] [ 4.28373794e-03 -1.13602342e-04 9.99990818e-01 7.78452968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.19, Y:119.82, Z:0.78 [[ 1.48879704e-02 -9.99889154e-01 -1.68200144e-04 1.67193741e+02] [ 9.99879991e-01 1.48885542e-02 -4.28194153e-03 1.19817566e+02] [ 4.28397115e-03 -1.04430540e-04 9.99990818e-01 7.78242047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.198623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.19, Y:119.84, Z:0.78 [[ 1.59155493e-02 -9.99873326e-01 -1.66970762e-04 1.67194501e+02] [ 9.99864162e-01 1.59161185e-02 -4.28198947e-03 1.19841139e+02] [ 4.28410458e-03 -9.87978663e-05 9.99990818e-01 7.77112936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.20, Y:119.87, Z:0.78 [[ 1.91266710e-02 -9.99817055e-01 -1.65698034e-04 1.67195339e+02] [ 9.99807889e-01 1.91272053e-02 -4.28203872e-03 1.19866226e+02] [ 4.28442468e-03 -8.37650561e-05 9.99990818e-01 7.77214413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.258623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.20, Y:119.89, Z:0.78 [[ 2.06161116e-02 -9.99787452e-01 -1.64478158e-04 1.67195886e+02] [ 9.99778285e-01 2.06166270e-02 -4.28208557e-03 1.19889614e+02] [ 4.28456641e-03 -7.61617362e-05 9.99990818e-01 7.76423021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28862385300005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.20, Y:119.91, Z:0.78 [[ 2.22090209e-02 -9.99753336e-01 -1.63219998e-04 1.67196397e+02] [ 9.99744168e-01 2.22095163e-02 -4.28213353e-03 1.19914217e+02] [ 4.28470232e-03 -6.80762476e-05 9.99990818e-01 7.76695353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.318623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.20, Y:119.94, Z:0.78 [[ 2.51555069e-02 -9.99683537e-01 -1.62006942e-04 1.67197234e+02] [ 9.99674367e-01 2.51559701e-02 -4.28217943e-03 1.19937640e+02] [ 4.28489972e-03 -5.42337929e-05 9.99990818e-01 7.75961661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.348623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.20, Y:119.96, Z:0.78 [[ 2.59976256e-02 -9.99661992e-01 -1.60863561e-04 1.67197967e+02] [ 9.99652821e-01 2.59980761e-02 -4.28222238e-03 1.19962191e+02] [ 4.28495709e-03 -4.94800987e-05 9.99990818e-01 7.76703241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.378623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.20, Y:119.99, Z:0.78 [[ 2.71738435e-02 -9.99630710e-01 -1.59609515e-04 1.67198404e+02] [ 9.99621539e-01 2.71742779e-02 -4.28226912e-03 1.19985961e+02] [ 4.28502499e-03 -4.31833984e-05 9.99990818e-01 7.75620297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.408623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.20, Y:120.01, Z:0.78 [[ 2.74455562e-02 -9.99623287e-01 -1.58367296e-04 1.67199416e+02] [ 9.99614115e-01 2.74459828e-02 -4.28231506e-03 1.20009263e+02] [ 4.28504840e-03 -4.07756660e-05 9.99990818e-01 7.75682443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.438623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.20, Y:120.03, Z:0.78 [[ 2.74254626e-02 -9.99623839e-01 -1.57198057e-04 1.67201270e+02] [ 9.99614667e-01 2.74258844e-02 -4.28235798e-03 1.20034166e+02] [ 4.28505842e-03 -3.96918343e-05 9.99990818e-01 7.78314298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.468623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.20, Y:120.06, Z:0.78 [[ 2.72237418e-02 -9.99629353e-01 -1.55941101e-04 1.67201893e+02] [ 9.99620181e-01 2.72241600e-02 -4.28240375e-03 1.20057857e+02] [ 4.28506185e-03 -3.92988181e-05 9.99990818e-01 7.78726730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.498623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.20, Y:120.08, Z:0.78 [[ 2.72291885e-02 -9.99629205e-01 -1.54637465e-04 1.67202625e+02] [ 9.99620033e-01 2.72296012e-02 -4.28245082e-03 1.20082473e+02] [ 4.28507363e-03 -3.79710469e-05 9.99990818e-01 7.78915466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.528623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.20, Y:120.11, Z:0.78 [[ 2.74747575e-02 -9.99622486e-01 -1.53394045e-04 1.67204401e+02] [ 9.99613313e-01 2.74751626e-02 -4.28249536e-03 1.20106471e+02] [ 4.28509318e-03 -3.56742081e-05 9.99990818e-01 7.79602384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.21, Y:120.13, Z:0.78 [[ 2.76083730e-02 -9.99618805e-01 -1.52104233e-04 1.67205421e+02] [ 9.99609632e-01 2.76087713e-02 -4.28254117e-03 1.20129957e+02] [ 4.28510810e-03 -3.38108618e-05 9.99990818e-01 7.78562931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.21, Y:120.16, Z:0.78 [[ 2.75102428e-02 -9.99621510e-01 -1.50832498e-04 1.67205860e+02] [ 9.99612337e-01 2.75106365e-02 -4.28258596e-03 1.20155113e+02] [ 4.28511455e-03 -3.29590461e-05 9.99990818e-01 7.78379693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.21, Y:120.18, Z:0.78 [[ 2.70004862e-02 -9.99635409e-01 -1.49605219e-04 1.67206476e+02] [ 9.99626236e-01 2.70008794e-02 -4.28262883e-03 1.20178890e+02] [ 4.28510690e-03 -3.39162413e-05 9.99990818e-01 7.76976868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.648623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.21, Y:120.20, Z:0.78 [[ 2.63304817e-02 -9.99653282e-01 -1.48426072e-04 1.67207473e+02] [ 9.99644109e-01 2.63308759e-02 -4.28266970e-03 1.20203971e+02] [ 4.28509301e-03 -3.56084923e-05 9.99990818e-01 7.77991567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:120.23, Z:0.78 [[ 2.47125364e-02 -9.99694588e-01 -1.47230360e-04 1.67208182e+02] [ 9.99685415e-01 2.47129404e-02 -4.28271081e-03 1.20228805e+02] [ 4.28504131e-03 -4.13473964e-05 9.99990818e-01 7.79168067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.708623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.21, Y:120.25, Z:0.78 [[ 2.38102096e-02 -9.99716486e-01 -1.45996870e-04 1.67208870e+02] [ 9.99707313e-01 2.38106166e-02 -4.28275286e-03 1.20253222e+02] [ 4.28501491e-03 -4.39808949e-05 9.99990818e-01 7.79581291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.21, Y:120.28, Z:0.78 [[ 2.16979692e-02 -9.99764561e-01 -1.44751695e-04 1.67210059e+02] [ 9.99755389e-01 2.16983902e-02 -4.28279494e-03 1.20276579e+02] [ 4.28492748e-03 -5.17883347e-05 9.99990818e-01 7.80183384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.768623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.21, Y:120.30, Z:0.78 [[ 2.04284513e-02 -9.99791307e-01 -1.43459414e-04 1.67210805e+02] [ 9.99782135e-01 2.04288785e-02 -4.28283823e-03 1.20301241e+02] [ 4.28487514e-03 -5.59364071e-05 9.99990818e-01 7.80402585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:120.33, Z:0.78 [[ 1.79984247e-02 -9.99838005e-01 -1.42242127e-04 1.67212751e+02] [ 9.99828834e-01 1.79988689e-02 -4.28287866e-03 1.20326335e+02] [ 4.28474505e-03 -6.51327113e-05 9.99990818e-01 7.78615811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:120.35, Z:0.78 [[ 1.65401570e-02 -9.99863192e-01 -1.41005698e-04 1.67214500e+02] [ 9.99854022e-01 1.65406093e-02 -4.28291936e-03 1.20350690e+02] [ 4.28466575e-03 -7.01449556e-05 9.99990818e-01 7.78048222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.22, Y:120.37, Z:0.78 [[ 1.54124008e-02 -9.99881212e-01 -1.39754947e-04 1.67215757e+02] [ 9.99872042e-01 1.54128581e-02 -4.28296017e-03 1.20373872e+02] [ 4.28460543e-03 -7.37263657e-05 9.99990818e-01 7.75467544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.888623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.22, Y:120.40, Z:0.78 [[ 1.44945523e-02 -9.99894939e-01 -1.38457833e-04 1.67216778e+02] [ 9.99885769e-01 1.44950125e-02 -4.28300211e-03 1.20398764e+02] [ 4.28455908e-03 -7.63618186e-05 9.99990818e-01 7.77315744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.22, Y:120.42, Z:0.78 [[ 1.46564344e-02 -9.99892579e-01 -1.37262375e-04 1.67217233e+02] [ 9.99883409e-01 1.46568879e-02 -4.28304042e-03 1.20423366e+02] [ 4.28459217e-03 -7.44722705e-05 9.99990818e-01 7.79741745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.948623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:167.22, Y:120.45, Z:0.79 [[ 1.48349477e-02 -9.99889947e-01 -1.35976935e-04 1.67217393e+02] [ 9.99880776e-01 1.48353940e-02 -4.28308123e-03 1.20446786e+02] [ 4.28462713e-03 -7.24214380e-05 9.99990818e-01 7.87900433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.22, Y:120.47, Z:0.78 [[ 1.51356977e-02 -9.99885440e-01 -1.34647801e-04 1.67218538e+02] [ 9.99876269e-01 1.51361356e-02 -4.28312301e-03 1.20471622e+02] [ 4.28467038e-03 -6.98030863e-05 9.99990818e-01 7.80560480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.008623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.22, Y:120.50, Z:0.78 [[ 1.53334358e-02 -9.99882427e-01 -1.33433975e-04 1.67218998e+02] [ 9.99873256e-01 1.53338668e-02 -4.28316083e-03 1.20495069e+02] [ 4.28470330e-03 -6.77414918e-05 9.99990818e-01 7.81934039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03862385300005 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:167.22, Y:120.52, Z:0.79 [[ 1.60469203e-02 -9.99871231e-01 -1.32177758e-04 1.67219713e+02] [ 9.99862059e-01 1.60473393e-02 -4.28319959e-03 1.20520105e+02] [ 4.28476915e-03 -6.34273629e-05 9.99990818e-01 7.90913440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.068623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.22, Y:120.55, Z:0.79 [[ 1.61217283e-02 -9.99870028e-01 -1.30976079e-04 1.67220398e+02] [ 9.99860856e-01 1.61221415e-02 -4.28323634e-03 1.20545076e+02] [ 4.28479125e-03 -6.19046821e-05 9.99990818e-01 7.85317232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.098623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.22, Y:120.57, Z:0.79 [[ 1.58237282e-02 -9.99874789e-01 -1.29697363e-04 1.67220978e+02] [ 9.99865616e-01 1.58241387e-02 -4.28327506e-03 1.20568449e+02] [ 4.28479109e-03 -6.19025529e-05 9.99990818e-01 7.85288702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.128623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.22, Y:120.59, Z:0.78 [[ 1.52677151e-02 -9.99883433e-01 -1.28489978e-04 1.67221948e+02] [ 9.99874261e-01 1.52681255e-02 -4.28331128e-03 1.20591944e+02] [ 4.28477379e-03 -6.30774457e-05 9.99990818e-01 7.83788492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.158623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.22, Y:120.62, Z:0.78 [[ 1.46518052e-02 -9.99892648e-01 -1.27211422e-04 1.67223526e+02] [ 9.99883476e-01 1.46522157e-02 -4.28334925e-03 1.20616798e+02] [ 4.28475335e-03 -6.44377997e-05 9.99990818e-01 7.83817692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:120.64, Z:0.78 [[ 1.26659140e-02 -9.99919776e-01 -1.25964545e-04 1.67225805e+02] [ 9.99910604e-01 1.26663375e-02 -4.28338592e-03 1.20641365e+02] [ 4.28463780e-03 -7.17002865e-05 9.99990818e-01 7.82909737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.218623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.23, Y:120.67, Z:0.78 [[ 1.15808706e-02 -9.99932932e-01 -1.24712757e-04 1.67227160e+02] [ 9.99923760e-01 1.15812986e-02 -4.28342236e-03 1.20666304e+02] [ 4.28457942e-03 -7.50974893e-05 9.99990818e-01 7.82740071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.248623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.23, Y:120.69, Z:0.79 [[ 9.60546494e-03 -9.99953859e-01 -1.23470207e-04 1.67229546e+02] [ 9.99944688e-01 9.60590575e-03 -4.28345818e-03 1.20689623e+02] [ 4.28444658e-03 -8.23187700e-05 9.99990818e-01 7.90054811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.278623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.23, Y:120.71, Z:0.78 [[ 8.33712313e-03 -9.99965238e-01 -1.22297646e-04 1.67231495e+02] [ 9.99956067e-01 8.33757054e-03 -4.28349166e-03 1.20714345e+02] [ 4.28436242e-03 -8.65802759e-05 9.99990818e-01 7.81990874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.23, Y:120.74, Z:0.78 [[ 7.70528452e-03 -9.99970307e-01 -1.21062292e-04 1.67233708e+02] [ 9.99961136e-01 7.70573244e-03 -4.28352657e-03 1.20739312e+02] [ 4.28433225e-03 -8.80517959e-05 9.99990818e-01 7.82021963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.24, Y:120.76, Z:0.78 [[ 7.35047233e-03 -9.99972978e-01 -1.19831700e-04 1.67237110e+02] [ 9.99963807e-01 7.35091824e-03 -4.28356100e-03 1.20763787e+02] [ 4.28432612e-03 -8.83411668e-05 9.99990818e-01 7.81482959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.24, Y:120.79, Z:0.78 [[ 8.51269275e-03 -9.99963759e-01 -1.18605835e-04 1.67239863e+02] [ 9.99954588e-01 8.51312275e-03 -4.28359494e-03 1.20788162e+02] [ 4.28444940e-03 -8.21355216e-05 9.99990818e-01 7.81418921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.24, Y:120.81, Z:0.78 [[ 9.31235815e-03 -9.99956632e-01 -1.17428649e-04 1.67241148e+02] [ 9.99947460e-01 9.31277578e-03 -4.28362721e-03 1.20811323e+02] [ 4.28453502e-03 -7.75318082e-05 9.99990818e-01 7.81976641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.24, Y:120.84, Z:0.79 [[ 1.04044423e-02 -9.99945866e-01 -1.16148831e-04 1.67242039e+02] [ 9.99936693e-01 1.04048444e-02 -4.28366191e-03 1.20836091e+02] [ 4.28463853e-03 -7.15723653e-05 9.99990818e-01 7.90393356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.458623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.24, Y:120.86, Z:0.78 [[ 1.16652464e-02 -9.99931952e-01 -1.14937041e-04 1.67243791e+02] [ 9.99922779e-01 1.16656318e-02 -4.28369442e-03 1.20859586e+02] [ 4.28474374e-03 -6.49578140e-05 9.99990818e-01 7.81772367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.25, Y:120.88, Z:0.78 [[ 1.41924457e-02 -9.99899276e-01 -1.13681281e-04 1.67246373e+02] [ 9.99890101e-01 1.41928025e-02 -4.28372775e-03 1.20882301e+02] [ 4.28490973e-03 -5.28722139e-05 9.99990818e-01 7.80945765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.25, Y:120.91, Z:0.78 [[ 1.71584538e-02 -9.99852777e-01 -1.12345114e-04 1.67248536e+02] [ 9.99843601e-01 1.71587777e-02 -4.28376279e-03 1.20906865e+02] [ 4.28505983e-03 -3.88247970e-05 9.99990818e-01 7.81028190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.25, Y:120.93, Z:0.78 [[ 1.89321944e-02 -9.99820764e-01 -1.11151221e-04 1.67249350e+02] [ 9.99811587e-01 1.89324969e-02 -4.28379377e-03 1.20931738e+02] [ 4.28513033e-03 -3.00286624e-05 9.99990818e-01 7.80667164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.578623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.25, Y:120.96, Z:0.79 [[ 2.08080206e-02 -9.99783484e-01 -1.09958485e-04 1.67249301e+02] [ 9.99774306e-01 2.08083007e-02 -4.28382439e-03 1.20956419e+02] [ 4.28518492e-03 -2.07957625e-05 9.99990818e-01 7.86648048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.25, Y:120.98, Z:0.78 [[ 2.50000406e-02 -9.99687444e-01 -1.08765979e-04 1.67249758e+02] [ 9.99678266e-01 2.50002772e-02 -4.28385466e-03 1.20978919e+02] [ 4.28523490e-03 -1.63444432e-06 9.99990818e-01 7.80561057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.25, Y:121.00, Z:0.78 [[ 2.69619237e-02 -9.99636456e-01 -1.07440343e-04 1.67249608e+02] [ 9.99627276e-01 2.69621366e-02 -4.28388791e-03 1.21003046e+02] [ 4.28522735e-03 8.10156166e-06 9.99990818e-01 7.80172928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.25, Y:121.03, Z:0.79 [[ 3.04634877e-02 -9.99535875e-01 -1.06158658e-04 1.67248954e+02] [ 9.99526695e-01 3.04636629e-02 -4.28391967e-03 1.21025793e+02] [ 4.28516538e-03 2.43947216e-05 9.99990818e-01 7.85747667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.698623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.25, Y:121.05, Z:0.79 [[ 3.15097480e-02 -9.99503439e-01 -1.04835280e-04 1.67248496e+02] [ 9.99494259e-01 3.15099079e-02 -4.28395206e-03 1.21048915e+02] [ 4.28512816e-03 3.02039890e-05 9.99990818e-01 7.85491948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.25, Y:121.07, Z:0.78 [[ 3.19159405e-02 -9.99490551e-01 -1.03523626e-04 1.67248373e+02] [ 9.99481371e-01 3.19160911e-02 -4.28398375e-03 1.21072942e+02] [ 4.28510535e-03 3.32574354e-05 9.99990818e-01 7.79626157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.758623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.25, Y:121.10, Z:0.78 [[ 3.14258554e-02 -9.99506081e-01 -1.02267565e-04 1.67246113e+02] [ 9.99496900e-01 3.14260050e-02 -4.28401374e-03 1.21096119e+02] [ 4.28511164e-03 3.24126815e-05 9.99990818e-01 7.81486079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.25, Y:121.12, Z:0.78 [[ 2.90796537e-02 -9.99577092e-01 -1.00974084e-04 1.67245691e+02] [ 9.99567912e-01 2.90798194e-02 -4.28404422e-03 1.21119890e+02] [ 4.28516878e-03 2.36480681e-05 9.99990818e-01 7.83414586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.818623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.25, Y:121.14, Z:0.78 [[ 2.73768977e-02 -9.99625178e-01 -9.96923533e-05 1.67245624e+02] [ 9.99615998e-01 2.73770735e-02 -4.28407405e-03 1.21143462e+02] [ 4.28519757e-03 1.76305859e-05 9.99990818e-01 7.83252492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.848623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.25, Y:121.17, Z:0.78 [[ 2.52433140e-02 -9.99681332e-01 -9.84179386e-05 1.67245254e+02] [ 9.99672152e-01 2.52435040e-02 -4.28410333e-03 1.21166063e+02] [ 4.28522253e-03 9.75929324e-06 9.99990818e-01 7.82012285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.24, Y:121.19, Z:0.78 [[ 2.10580579e-02 -9.99778250e-01 -9.70982351e-05 1.67244824e+02] [ 9.99769071e-01 2.10582806e-02 -4.28413324e-03 1.21188600e+02] [ 4.28522795e-03 -6.86028662e-06 9.99990818e-01 7.79583318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.908623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.24, Y:121.21, Z:0.78 [[ 1.67119601e-02 -9.99860341e-01 -9.58277659e-05 1.67244931e+02] [ 9.99851163e-01 1.67122173e-02 -4.28416166e-03 1.21213688e+02] [ 4.28516483e-03 -2.42167646e-05 9.99990818e-01 7.79044387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.24, Y:121.24, Z:0.78 [[ 1.43487701e-02 -9.99897047e-01 -9.46255788e-05 1.67244940e+02] [ 9.99887869e-01 1.43490438e-02 -4.28418821e-03 1.21238136e+02] [ 4.28510492e-03 -3.31421367e-05 9.99990818e-01 7.78657989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.968623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.25, Y:121.26, Z:0.78 [[ 1.40678834e-02 -9.99901038e-01 -9.34244569e-05 1.67245110e+02] [ 9.99891860e-01 1.40681546e-02 -4.28421440e-03 1.21263300e+02] [ 4.28510474e-03 -3.31445253e-05 9.99990818e-01 7.78765738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.998623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.25, Y:121.29, Z:0.78 [[ 1.15672086e-02 -9.99933093e-01 -9.22209384e-05 1.67245194e+02] [ 9.99923916e-01 1.15674976e-02 -4.28424031e-03 1.21288360e+02] [ 4.28502043e-03 -4.26572205e-05 9.99990818e-01 7.78922880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.028623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.25, Y:121.31, Z:0.78 [[ 6.31495649e-03 -9.99980056e-01 -9.10120073e-05 1.67246260e+02] [ 9.99970881e-01 6.31528847e-03 -4.28426599e-03 1.21312429e+02] [ 4.28475531e-03 -6.39544038e-05 9.99990818e-01 7.80401617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.25, Y:121.34, Z:0.78 [[ 3.34680998e-03 -9.99994395e-01 -8.97588391e-05 1.67247353e+02] [ 9.99985221e-01 3.34716382e-03 -4.28429224e-03 1.21335415e+02] [ 4.28456867e-03 -7.54188005e-05 9.99990818e-01 7.81768621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:121.36, Z:0.78 [[-1.84357231e-03 -9.99998297e-01 -8.84248532e-05 1.67250065e+02] [ 9.99989124e-01 -1.84317656e-03 -4.28431978e-03 1.21358424e+02] [ 4.28414950e-03 -9.63223448e-05 9.99990818e-01 7.83517401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.25, Y:121.38, Z:0.78 [[-4.22949569e-03 -9.99991052e-01 -8.71214007e-05 1.67251783e+02] [ 9.99981879e-01 -4.22908364e-03 -4.28434628e-03 1.21382558e+02] [ 4.28393950e-03 -1.05240446e-04 9.99990818e-01 7.84624239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.148623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.25, Y:121.41, Z:0.78 [[-7.58132992e-03 -9.99971258e-01 -8.58634005e-05 1.67254053e+02] [ 9.99962086e-01 -7.58089251e-03 -4.28437149e-03 1.21406348e+02] [ 4.28359743e-03 -1.18341379e-04 9.99990818e-01 7.84640046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17862385300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.25, Y:121.43, Z:0.79 [[-8.71776947e-03 -9.99961996e-01 -8.46112937e-05 1.67254920e+02] [ 9.99952825e-01 -8.71732700e-03 -4.28439622e-03 1.21430329e+02] [ 4.28349581e-03 -1.21957681e-04 9.99990818e-01 7.93546869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:121.45, Z:0.78 [[-1.02708059e-02 -9.99947250e-01 -8.33353269e-05 1.67258426e+02] [ 9.99938080e-01 -1.02703546e-02 -4.28442104e-03 1.21453384e+02] [ 4.28333916e-03 -1.27334623e-04 9.99990818e-01 7.84099989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:121.48, Z:0.78 [[-1.06552155e-02 -9.99943228e-01 -8.20160648e-05 1.67260036e+02] [ 9.99934058e-01 -1.06547663e-02 -4.28444629e-03 1.21477504e+02] [ 4.28332920e-03 -1.27662355e-04 9.99990818e-01 7.84045266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:121.50, Z:0.78 [[-1.05758783e-02 -9.99944071e-01 -8.07442780e-05 1.67261821e+02] [ 9.99934900e-01 -1.05754354e-02 -4.28447026e-03 1.21501562e+02] [ 4.28337673e-03 -1.26051058e-04 9.99990818e-01 7.84375628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:121.52, Z:0.78 [[-9.07821330e-03 -9.99958789e-01 -7.94741878e-05 1.67264675e+02] [ 9.99949617e-01 -9.07778951e-03 -4.28449382e-03 1.21524419e+02] [ 4.28359580e-03 -1.18365732e-04 9.99990818e-01 7.84090491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:121.55, Z:0.78 [[-8.07939373e-03 -9.99967358e-01 -7.81580758e-05 1.67265565e+02] [ 9.99958186e-01 -8.07898475e-03 -4.28451783e-03 1.21546876e+02] [ 4.28374654e-03 -1.12771114e-04 9.99990818e-01 7.83842357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:121.57, Z:0.78 [[-4.43599085e-03 -9.99990158e-01 -7.68519085e-05 1.67268227e+02] [ 9.99980984e-01 -4.43562087e-03 -4.28454126e-03 1.21569167e+02] [ 4.28415820e-03 -9.58566329e-05 9.99990818e-01 7.83572976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.27, Y:121.59, Z:0.78 [[-2.19356715e-03 -9.99997591e-01 -7.54996991e-05 1.67269553e+02] [ 9.99988416e-01 -2.19322354e-03 -4.28456509e-03 1.21593650e+02] [ 4.28438918e-03 -8.48973058e-05 9.99990818e-01 7.84841290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:121.62, Z:0.78 [[ 3.70573263e-04 -9.99999929e-01 -7.42719294e-05 1.67270698e+02] [ 9.99990752e-01 3.70888084e-04 -4.28458637e-03 1.21617381e+02] [ 4.28461361e-03 -7.26834894e-05 9.99990818e-01 7.83960664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:121.64, Z:0.79 [[ 6.38541899e-03 -9.99979610e-01 -7.29976464e-05 1.67272805e+02] [ 9.99970432e-01 6.38567316e-03 -4.28460808e-03 1.21642235e+02] [ 4.28498686e-03 -4.56364702e-05 9.99990818e-01 7.85842220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.27, Y:121.67, Z:0.79 [[ 9.33817560e-03 -9.99956396e-01 -7.18350426e-05 1.67273385e+02] [ 9.99947217e-01 9.33839768e-03 -4.28462757e-03 1.21665535e+02] [ 4.28511157e-03 -3.18206463e-05 9.99990818e-01 7.86235813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.508623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.27, Y:121.69, Z:0.79 [[ 1.49555594e-02 -9.99888157e-01 -7.05710867e-05 1.67272537e+02] [ 9.99878977e-01 1.49557245e-02 -4.28464839e-03 1.21690161e+02] [ 4.28522462e-03 -6.48323237e-06 9.99990818e-01 7.91594274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:121.72, Z:0.78 [[ 1.72547661e-02 -9.99851123e-01 -6.93584193e-05 1.67272625e+02] [ 9.99841942e-01 1.72549049e-02 -4.28466802e-03 1.21715201e+02] [ 4.28522690e-03 4.58348768e-06 9.99990818e-01 7.84803073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.568623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:167.27, Y:121.74, Z:0.79 [[ 2.04840564e-02 -9.99790177e-01 -6.81468380e-05 1.67272028e+02] [ 9.99780996e-01 2.04841604e-02 -4.28468729e-03 1.21738805e+02] [ 4.28518420e-03 1.96358626e-05 9.99990818e-01 7.91777636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.598623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.27, Y:121.76, Z:0.78 [[ 2.10418082e-02 -9.99778594e-01 -6.68955304e-05 1.67272386e+02] [ 9.99769413e-01 2.10419017e-02 -4.28470683e-03 1.21763069e+02] [ 4.28516578e-03 2.32778742e-05 9.99990818e-01 7.83261934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.628623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.27, Y:121.79, Z:0.78 [[ 2.11710078e-02 -9.99775867e-01 -6.56471069e-05 1.67272695e+02] [ 9.99766686e-01 2.11710947e-02 -4.28472595e-03 1.21786329e+02] [ 4.28515543e-03 2.50801760e-05 9.99990818e-01 7.82642806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.658623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.27, Y:121.81, Z:0.78 [[ 1.99885841e-02 -9.99800206e-01 -6.43515890e-05 1.67272969e+02] [ 9.99791025e-01 1.99886763e-02 -4.28474541e-03 1.21810168e+02] [ 4.28517565e-03 2.13078529e-05 9.99990818e-01 7.81928796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.688623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.27, Y:121.83, Z:0.78 [[ 1.86981742e-02 -9.99825172e-01 -6.30830245e-05 1.67273841e+02] [ 9.99815991e-01 1.86982728e-02 -4.28476409e-03 1.21834806e+02] [ 4.28519453e-03 1.70458484e-05 9.99990818e-01 7.82989638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.28, Y:121.86, Z:0.78 [[ 1.62157509e-02 -9.99868514e-01 -6.18832958e-05 1.67275086e+02] [ 9.99859333e-01 1.62158672e-02 -4.28478141e-03 1.21859269e+02] [ 4.28522152e-03 7.60635710e-06 9.99990818e-01 7.83608398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.748623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.28, Y:121.88, Z:0.78 [[ 1.50803686e-02 -9.99886283e-01 -6.06480841e-05 1.67275108e+02] [ 9.99877102e-01 1.50804900e-02 -4.28479890e-03 1.21884096e+02] [ 4.28522625e-03 3.97571607e-06 9.99990818e-01 7.83958261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.778623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.27, Y:121.91, Z:0.78 [[ 1.36510337e-02 -9.99906819e-01 -5.94097136e-05 1.67274690e+02] [ 9.99897638e-01 1.36511630e-02 -4.28481607e-03 1.21908067e+02] [ 4.28522781e-03 -9.11463686e-07 9.99990818e-01 7.82607638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.27, Y:121.93, Z:0.78 [[ 1.29010394e-02 -9.99916776e-01 -5.81224947e-05 1.67274657e+02] [ 9.99907596e-01 1.29011700e-02 -4.28483353e-03 1.21931966e+02] [ 4.28522678e-03 -2.83831797e-06 9.99990818e-01 7.81892533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.28, Y:121.95, Z:0.78 [[ 1.12041229e-02 -9.99937230e-01 -5.68357452e-05 1.67275082e+02] [ 9.99928050e-01 1.12042636e-02 -4.28485060e-03 1.21954661e+02] [ 4.28521844e-03 -8.82366297e-06 9.99990818e-01 7.80258216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.28, Y:121.98, Z:0.79 [[ 9.93096294e-03 -9.99950685e-01 -5.55560272e-05 1.67275103e+02] [ 9.99941505e-01 9.93110983e-03 -4.28486719e-03 1.21979097e+02] [ 4.28520761e-03 -1.29999201e-05 9.99990818e-01 7.87637986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.00, Z:0.78 [[ 8.61207457e-03 -9.99962914e-01 -5.43381705e-05 1.67276090e+02] [ 9.99953734e-01 8.61222835e-03 -4.28488263e-03 1.22004282e+02] [ 4.28519170e-03 -1.74339277e-05 9.99990818e-01 7.80809525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.03, Z:0.78 [[ 6.56927967e-03 -9.99978421e-01 -5.31221514e-05 1.67276459e+02] [ 9.99969241e-01 6.56944699e-03 -4.28489771e-03 1.22028515e+02] [ 4.28515423e-03 -2.49718260e-05 9.99990818e-01 7.81920009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.05, Z:0.78 [[ 5.46600678e-03 -9.99985060e-01 -5.18128093e-05 1.67276740e+02] [ 9.99975880e-01 5.46617862e-03 -4.28491354e-03 1.22053544e+02] [ 4.28513274e-03 -2.83901931e-05 9.99990818e-01 7.82329935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.28, Y:122.08, Z:0.78 [[ 2.99590856e-03 -9.99995511e-01 -5.06014050e-05 1.67277982e+02] [ 9.99986331e-01 2.99609788e-03 -4.28492785e-03 1.22076113e+02] [ 4.28506022e-03 -3.77634614e-05 9.99990818e-01 7.82164034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.018623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.28, Y:122.10, Z:0.79 [[ 2.02779313e-03 -9.99997943e-01 -4.92551070e-05 1.67278130e+02] [ 9.99988763e-01 2.02798557e-03 -4.28494332e-03 1.22100590e+02] [ 4.28503440e-03 -4.05655749e-05 9.99990818e-01 7.89854517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.12, Z:0.78 [[ 1.54481080e-03 -9.99998806e-01 -4.80042958e-05 1.67278879e+02] [ 9.99989626e-01 1.54500231e-03 -4.28495734e-03 1.22124515e+02] [ 4.28502638e-03 -4.13843495e-05 9.99990818e-01 7.83156438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.15, Z:0.78 [[ 1.53698590e-03 -9.99998818e-01 -4.67087095e-05 1.67278251e+02] [ 9.99989638e-01 1.53717193e-03 -4.28497146e-03 1.22147473e+02] [ 4.28503819e-03 -4.01222848e-05 9.99990818e-01 7.82349680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.28, Y:122.17, Z:0.78 [[ 1.89529022e-03 -9.99998203e-01 -4.53747913e-05 1.67277685e+02] [ 9.99989023e-01 1.89546725e-03 -4.28498558e-03 1.22172203e+02] [ 4.28506389e-03 -3.72530020e-05 9.99990818e-01 7.81549948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.28, Y:122.20, Z:0.78 [[ 2.35891926e-03 -9.99997217e-01 -4.41099837e-05 1.67276974e+02] [ 9.99988037e-01 2.35908662e-03 -4.28499860e-03 1.22195843e+02] [ 4.28509074e-03 -3.40014903e-05 9.99990818e-01 7.80928171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.22, Z:0.78 [[ 3.49390241e-03 -9.99993895e-01 -4.27994723e-05 1.67276011e+02] [ 9.99984715e-01 3.49405373e-03 -4.28501169e-03 1.22220182e+02] [ 4.28513508e-03 -2.78274054e-05 9.99990818e-01 7.79347350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.24, Z:0.78 [[ 3.69810983e-03 -9.99993161e-01 -4.15856106e-05 1.67276603e+02] [ 9.99983981e-01 3.69825407e-03 -4.28502347e-03 1.22244619e+02] [ 4.28514796e-03 -2.57384570e-05 9.99990818e-01 7.79533292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.28, Y:122.27, Z:0.78 [[ 3.59146427e-03 -9.99993550e-01 -4.03328279e-05 1.67276835e+02] [ 9.99984369e-01 3.59160412e-03 -4.28503526e-03 1.22268475e+02] [ 4.28515249e-03 -2.49426464e-05 9.99990818e-01 7.79048996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.258623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.28, Y:122.29, Z:0.78 [[ 3.29092428e-03 -9.99994584e-01 -3.90332370e-05 1.67276490e+02] [ 9.99985404e-01 3.29106133e-03 -4.28504710e-03 1.22291724e+02] [ 4.28515236e-03 -2.49309017e-05 9.99990818e-01 7.78403371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.32, Z:0.78 [[ 2.38488333e-03 -9.99997155e-01 -3.77432077e-05 1.67275957e+02] [ 9.99987975e-01 2.38502316e-03 -4.28505847e-03 1.22316867e+02] [ 4.28513630e-03 -2.75233894e-05 9.99990818e-01 7.76078435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.318623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.28, Y:122.34, Z:0.78 [[ 2.04448593e-03 -9.99997909e-01 -3.65277446e-05 1.67275593e+02] [ 9.99988729e-01 2.04462368e-03 -4.28506883e-03 1.22341471e+02] [ 4.28513455e-03 -2.77665700e-05 9.99990818e-01 7.75481636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.36, Z:0.78 [[ 1.66365382e-03 -9.99998616e-01 -3.53125252e-05 1.67275316e+02] [ 9.99989435e-01 1.66378986e-03 -4.28507884e-03 1.22364508e+02] [ 4.28513166e-03 -2.81832644e-05 9.99990818e-01 7.75765733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.39, Z:0.78 [[ 2.15929278e-03 -9.99997668e-01 -3.39543682e-05 1.67275883e+02] [ 9.99988487e-01 2.15941845e-03 -4.28508960e-03 1.22388671e+02] [ 4.28515293e-03 -2.47012143e-05 9.99990818e-01 7.78709550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.408623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:167.28, Y:122.41, Z:0.79 [[ 2.79337992e-03 -9.99996098e-01 -3.26629858e-05 1.67275314e+02] [ 9.99986917e-01 2.79349424e-03 -4.28509945e-03 1.22413139e+02] [ 4.28517397e-03 -2.06926478e-05 9.99990818e-01 7.89913125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:122.44, Z:0.78 [[ 5.33402741e-03 -9.99985774e-01 -3.14039410e-05 1.67275321e+02] [ 9.99976592e-01 5.33411300e-03 -4.28510867e-03 1.22436375e+02] [ 4.28521522e-03 -8.54631879e-06 9.99990818e-01 7.82912230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:122.46, Z:0.78 [[ 6.39037347e-03 -9.99979581e-01 -3.02170847e-05 1.67273845e+02] [ 9.99970400e-01 6.39044428e-03 -4.28511704e-03 1.22459693e+02] [ 4.28522265e-03 -2.83269204e-06 9.99990818e-01 7.82788414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:122.48, Z:0.78 [[ 8.90007977e-03 -9.99960393e-01 -2.89586603e-05 1.67271322e+02] [ 9.99951212e-01 8.90012214e-03 -4.28512555e-03 1.22482482e+02] [ 4.28521356e-03 9.18071178e-06 9.99990818e-01 7.81157235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:122.51, Z:0.78 [[ 9.67746257e-03 -9.99953172e-01 -2.76460485e-05 1.67270689e+02] [ 9.99943990e-01 9.67749218e-03 -4.28513402e-03 1.22507359e+02] [ 4.28520090e-03 1.38247240e-05 9.99990818e-01 7.81295485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:122.53, Z:0.78 [[ 1.05161090e-02 -9.99944704e-01 -2.64401199e-05 1.67269687e+02] [ 9.99935522e-01 1.05161257e-02 -4.28514146e-03 1.22529979e+02] [ 4.28518255e-03 1.86245995e-05 9.99990818e-01 7.79598586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.588623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.27, Y:122.55, Z:0.78 [[ 1.00107196e-02 -9.99949891e-01 -2.51026756e-05 1.67268816e+02] [ 9.99940710e-01 1.00107353e-02 -4.28514929e-03 1.22553372e+02] [ 4.28518586e-03 1.77962408e-05 9.99990818e-01 7.79824458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:122.58, Z:0.78 [[ 8.23868812e-03 -9.99966061e-01 -2.38586464e-05 1.67266737e+02] [ 9.99956880e-01 8.23871472e-03 -4.28515622e-03 1.22577638e+02] [ 4.28520735e-03 1.14464480e-05 9.99990818e-01 7.80856220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.648623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.26, Y:122.60, Z:0.78 [[ 6.73158967e-03 -9.99977342e-01 -2.26262144e-05 1.67264910e+02] [ 9.99968161e-01 6.73162482e-03 -4.28516273e-03 1.22601923e+02] [ 4.28521794e-03 6.22046313e-06 9.99990818e-01 7.80564193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:122.63, Z:0.78 [[ 5.31006243e-03 -9.99985901e-01 -2.13940343e-05 1.67263468e+02] [ 9.99976720e-01 5.31010536e-03 -4.28516888e-03 1.22625743e+02] [ 4.28522207e-03 1.36097800e-06 9.99990818e-01 7.78976506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.26, Y:122.65, Z:0.78 [[ 2.06600824e-03 -9.99997866e-01 -2.01201109e-05 1.67262911e+02] [ 9.99988684e-01 2.06607549e-03 -4.28517486e-03 1.22649277e+02] [ 4.28520728e-03 -1.12666766e-05 9.99990818e-01 7.79381596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:122.67, Z:0.78 [[-9.76213273e-04 -9.99999523e-01 -1.88436597e-05 1.67261193e+02] [ 9.99990342e-01 -9.76123564e-04 -4.28518047e-03 1.22674398e+02] [ 4.28516004e-03 -2.30267278e-05 9.99990818e-01 7.81619983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.26, Y:122.70, Z:0.78 [[-2.20339096e-03 -9.99997572e-01 -1.75994590e-05 1.67260259e+02] [ 9.99988391e-01 -2.20329532e-03 -4.28518558e-03 1.22697630e+02] [ 4.28513640e-03 -2.70411939e-05 9.99990818e-01 7.82160489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:122.72, Z:0.78 [[-2.86121766e-03 -9.99995907e-01 -1.63034282e-05 1.67259724e+02] [ 9.99986726e-01 -2.86112153e-03 -4.28519051e-03 1.22721753e+02] [ 4.28512633e-03 -2.85640745e-05 9.99990818e-01 7.81820343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.828623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.26, Y:122.75, Z:0.78 [[-3.08005641e-03 -9.99995257e-01 -1.51028986e-05 1.67257929e+02] [ 9.99986075e-01 -3.07996342e-03 -4.28519474e-03 1.22746282e+02] [ 4.28512790e-03 -2.83013298e-05 9.99990818e-01 7.82328615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:122.77, Z:0.78 [[-3.30603920e-03 -9.99994535e-01 -1.38783045e-05 1.67256483e+02] [ 9.99985354e-01 -3.30594938e-03 -4.28519871e-03 1.22770064e+02] [ 4.28512941e-03 -2.80451361e-05 9.99990818e-01 7.81139080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:122.79, Z:0.78 [[-3.59579463e-03 -9.99993535e-01 -1.26119018e-05 1.67256115e+02] [ 9.99984354e-01 -3.59570757e-03 -4.28520244e-03 1.22794397e+02] [ 4.28512938e-03 -2.80204124e-05 9.99990818e-01 7.81243248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:122.82, Z:0.78 [[-4.10691825e-03 -9.99991567e-01 -1.13702212e-05 1.67254275e+02] [ 9.99982385e-01 -4.10683183e-03 -4.28520573e-03 1.22818317e+02] [ 4.28512290e-03 -2.89690106e-05 9.99990818e-01 7.80820308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.948623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.25, Y:122.84, Z:0.78 [[-4.69504066e-03 -9.99988978e-01 -1.01428441e-05 1.67253519e+02] [ 9.99979797e-01 -4.69495409e-03 -4.28520864e-03 1.22840914e+02] [ 4.28511379e-03 -3.02618680e-05 9.99990818e-01 7.79846234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:122.86, Z:0.78 [[-5.68650580e-03 -9.99983832e-01 -8.81703043e-06 1.67252355e+02] [ 9.99974651e-01 -5.68641581e-03 -4.28521136e-03 1.22863698e+02] [ 4.28509194e-03 -3.31846862e-05 9.99990818e-01 7.79553642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:122.89, Z:0.78 [[-6.24357160e-03 -9.99980509e-01 -7.53037658e-06 1.67251375e+02] [ 9.99971328e-01 -6.24348201e-03 -4.28521363e-03 1.22888637e+02] [ 4.28508309e-03 -3.42851988e-05 9.99990818e-01 7.81326839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:122.91, Z:0.78 [[-6.94808339e-03 -9.99975862e-01 -6.31924614e-06 1.67250205e+02] [ 9.99966681e-01 -6.94799252e-03 -4.28521541e-03 1.22913035e+02] [ 4.28506807e-03 -3.60930696e-05 9.99990818e-01 7.82256545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:122.94, Z:0.78 [[-7.71209063e-03 -9.99970261e-01 -5.03014933e-06 1.67249279e+02] [ 9.99961080e-01 -7.71199827e-03 -4.28521692e-03 1.22936936e+02] [ 4.28505070e-03 -3.80779348e-05 9.99990818e-01 7.82155730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:122.96, Z:0.78 [[-8.31713773e-03 -9.99965412e-01 -3.69177021e-06 1.67247512e+02] [ 9.99956231e-01 -8.31704555e-03 -4.28521808e-03 1.22960998e+02] [ 4.28503916e-03 -3.93323576e-05 9.99990818e-01 7.84925450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:122.99, Z:0.79 [[-8.64156291e-03 -9.99962661e-01 -2.39717759e-06 1.67246391e+02] [ 9.99953480e-01 -8.64147330e-03 -4.28521880e-03 1.22985065e+02] [ 4.28503808e-03 -3.94280539e-05 9.99990818e-01 7.85364690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.158623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.25, Y:123.01, Z:0.79 [[-1.00646656e-02 -9.99949350e-01 -1.11397594e-06 1.67245636e+02] [ 9.99940169e-01 -1.00645684e-02 -4.28521914e-03 1.23009296e+02] [ 4.28499088e-03 -4.42432068e-05 9.99990818e-01 7.85773260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.188623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.25, Y:123.01, Z:0.79 [[-1.14367705e-02 -9.99934598e-01 1.00790416e-07 1.67245284e+02] [ 9.99925417e-01 -1.14366659e-02 -4.28521911e-03 1.23005676e+02] [ 4.28494000e-03 -4.89082846e-05 9.99990818e-01 7.88337635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.218623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.25, Y:122.99, Z:0.78 [[-1.27106166e-02 -9.99919217e-01 1.73024939e-06 1.67246106e+02] [ 9.99910036e-01 -1.27105074e-02 -4.28521845e-03 1.22989515e+02] [ 4.28489427e-03 -5.27376752e-05 9.99990818e-01 7.83540272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:123.00, Z:0.78 [[-1.52371396e-02 -9.99883908e-01 3.35166419e-06 1.67247662e+02] [ 9.99874727e-01 -1.52370140e-02 -4.28521718e-03 1.22997496e+02] [ 4.28477077e-03 -6.19432080e-05 9.99990818e-01 7.83538493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.278623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.25, Y:123.00, Z:0.78 [[-1.74543861e-02 -9.99847661e-01 4.97068860e-06 1.67249573e+02] [ 9.99838480e-01 -1.74542472e-02 -4.28521530e-03 1.23001172e+02] [ 4.28464926e-03 -6.98259169e-05 9.99990818e-01 7.83558361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.25, Y:122.99, Z:0.78 [[-1.84894902e-02 -9.99829055e-01 6.59960403e-06 1.67250291e+02] [ 9.99819874e-01 -1.84893487e-02 -4.28521279e-03 1.22987379e+02] [ 4.28460228e-03 -7.26329847e-05 9.99990818e-01 7.83906551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.338623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.25, Y:122.97, Z:0.78 [[-1.93194963e-02 -9.99813361e-01 8.22556701e-06 1.67251120e+02] [ 9.99804181e-01 -1.93193542e-02 -4.28520967e-03 1.22974775e+02] [ 4.28456880e-03 -7.45641362e-05 9.99990818e-01 7.84592048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:122.97, Z:0.79 [[-2.02203615e-02 -9.99795548e-01 9.83876744e-06 1.67252568e+02] [ 9.99786367e-01 -2.02202180e-02 -4.28520597e-03 1.22971774e+02] [ 4.28452879e-03 -7.68117484e-05 9.99990818e-01 7.86472500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:122.98, Z:0.79 [[-2.06958605e-02 -9.99785818e-01 1.14461874e-05 1.67253844e+02] [ 9.99776637e-01 -2.06957195e-02 -4.28520168e-03 1.22979100e+02] [ 4.28452075e-03 -7.72423052e-05 9.99990818e-01 7.85592940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:122.98, Z:0.79 [[-2.20113701e-02 -9.99757720e-01 1.30588537e-05 1.67257444e+02] [ 9.99748540e-01 -2.20112240e-02 -4.28519676e-03 1.22982636e+02] [ 4.28444599e-03 -8.12674821e-05 9.99990818e-01 7.85302602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.458623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.26, Y:122.98, Z:0.79 [[-2.27745634e-02 -9.99740626e-01 1.46807951e-05 1.67259652e+02] [ 9.99731445e-01 -2.27744172e-02 -4.28519120e-03 1.22975482e+02] [ 4.28441408e-03 -8.29165062e-05 9.99990818e-01 7.85833592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.26, Y:122.98, Z:0.79 [[-2.40501545e-02 -9.99710753e-01 1.63032711e-05 1.67262893e+02] [ 9.99701573e-01 -2.40500036e-02 -4.28518503e-03 1.22976265e+02] [ 4.28433765e-03 -8.67609565e-05 9.99990818e-01 7.85956118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.26, Y:122.96, Z:0.78 [[-2.44370311e-02 -9.99701371e-01 1.79252075e-05 1.67264262e+02] [ 9.99692191e-01 -2.44368835e-02 -4.28517825e-03 1.22963625e+02] [ 4.28433660e-03 -8.67973442e-05 9.99990818e-01 7.83102209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.27, Y:123.01, Z:0.78 [[-2.35274011e-02 -9.99723192e-01 1.95428998e-05 1.67268456e+02] [ 9.99714012e-01 -2.35272688e-02 -4.28517087e-03 1.23005111e+02] [ 4.28444449e-03 -8.12816232e-05 9.99990818e-01 7.80763380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.578623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.27, Y:122.99, Z:0.78 [[-2.31380892e-02 -9.99732278e-01 2.11807142e-05 1.67271042e+02] [ 9.99723098e-01 -2.31379675e-02 -4.28516277e-03 1.22987845e+02] [ 4.28450562e-03 -7.79756291e-05 9.99990818e-01 7.81346054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:122.98, Z:0.78 [[-2.12361608e-02 -9.99774487e-01 2.28360985e-05 1.67274487e+02] [ 9.99765306e-01 -2.12360636e-02 -4.28515395e-03 1.22978282e+02] [ 4.28467254e-03 -6.81694793e-05 9.99990818e-01 7.80887485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.28, Y:122.98, Z:0.78 [[-2.01550818e-02 -9.99796865e-01 2.44782541e-05 1.67276437e+02] [ 9.99787684e-01 -2.01550016e-02 -4.28514457e-03 1.22983083e+02] [ 4.28476747e-03 -6.18943824e-05 9.99990818e-01 7.81364896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.28, Y:122.97, Z:0.78 [[-1.74772352e-02 -9.99847261e-01 2.61204056e-05 1.67279974e+02] [ 9.99838080e-01 -1.74771867e-02 -4.28513456e-03 1.22971368e+02] [ 4.28493657e-03 -4.87761284e-05 9.99990818e-01 7.82721162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.698623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.28, Y:122.97, Z:0.78 [[-1.64053517e-02 -9.99865423e-01 2.77611996e-05 1.67281118e+02] [ 9.99856241e-01 -1.64053200e-02 -4.28512393e-03 1.22968495e+02] [ 4.28500268e-03 -4.25417564e-05 9.99990818e-01 7.83310566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.28, Y:122.99, Z:0.78 [[-1.51564331e-02 -9.99885134e-01 2.93960115e-05 1.67282368e+02] [ 9.99875953e-01 -1.51564199e-02 -4.28511272e-03 1.22985815e+02] [ 4.28506604e-03 -3.55546593e-05 9.99990818e-01 7.83853614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:122.99, Z:0.78 [[-1.22992679e-02 -9.99924361e-01 3.10428185e-05 1.67286250e+02] [ 9.99915179e-01 -1.22992880e-02 -4.28510079e-03 1.22986142e+02] [ 4.28515847e-03 -2.16634170e-05 9.99990818e-01 7.84213248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78862385300005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.29, Y:122.95, Z:0.78 [[-1.00204119e-02 -9.99949794e-01 3.27031813e-05 1.67289656e+02] [ 9.99940612e-01 -1.00204600e-02 -4.28508812e-03 1.22953926e+02] [ 4.28520068e-03 -1.02371086e-05 9.99990818e-01 7.84732261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:122.97, Z:0.79 [[-9.06142518e-03 -9.99958944e-01 3.43469620e-05 1.67291034e+02] [ 9.99949763e-01 -9.06148917e-03 -4.28507494e-03 1.22965160e+02] [ 4.28521025e-03 -4.48364943e-06 9.99990818e-01 7.85407544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:122.95, Z:0.79 [[-8.32582240e-03 -9.99965339e-01 3.59812092e-05 1.67292968e+02] [ 9.99956158e-01 -8.32590015e-03 -4.28506122e-03 1.22951005e+02] [ 4.28521227e-03 3.02973061e-07 9.99990818e-01 7.85311950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.878623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.30, Y:122.95, Z:0.78 [[-6.99129890e-03 -9.99975560e-01 3.76165413e-05 1.67296301e+02] [ 9.99966379e-01 -6.99139590e-03 -4.28504686e-03 1.22947358e+02] [ 4.28520513e-03 7.65723318e-06 9.99990818e-01 7.83229307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.908623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.30, Y:122.95, Z:0.78 [[-7.14273439e-03 -9.99974490e-01 3.92443062e-05 1.67297429e+02] [ 9.99965309e-01 -7.14283698e-03 -4.28503195e-03 1.22948537e+02] [ 4.28520296e-03 8.63609967e-06 9.99990818e-01 7.80559567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.30, Y:122.94, Z:0.78 [[-7.19973943e-03 -9.99974081e-01 4.08736882e-05 1.67299291e+02] [ 9.99964900e-01 -7.19984847e-03 -4.28501641e-03 1.22944736e+02] [ 4.28519963e-03 1.00212520e-05 9.99990818e-01 7.81762165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.968623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.30, Y:122.94, Z:0.78 [[-7.54177707e-03 -9.99971560e-01 4.25043990e-05 1.67300418e+02] [ 9.99962379e-01 -7.54188997e-03 -4.28500024e-03 1.22935982e+02] [ 4.28519893e-03 1.01862834e-05 9.99990818e-01 7.84497021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.998623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.30, Y:122.94, Z:0.79 [[-8.20053689e-03 -9.99966374e-01 4.41302762e-05 1.67303483e+02] [ 9.99957193e-01 -8.20065070e-03 -4.28498349e-03 1.22941032e+02] [ 4.28520130e-03 8.98922191e-06 9.99990818e-01 7.85673693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.028623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.31, Y:122.93, Z:0.79 [[-9.02097879e-03 -9.99959309e-01 4.57574756e-05 1.67305408e+02] [ 9.99950128e-01 -9.02109204e-03 -4.28496611e-03 1.22933774e+02] [ 4.28520454e-03 7.10060522e-06 9.99990818e-01 7.85084253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.31, Y:122.91, Z:0.78 [[-1.03324281e-02 -9.99946618e-01 4.73857493e-05 1.67309989e+02] [ 9.99937437e-01 -1.03325363e-02 -4.28494811e-03 1.22909911e+02] [ 4.28520898e-03 3.10886629e-06 9.99990818e-01 7.83670601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.31, Y:122.91, Z:0.78 [[-1.10171080e-02 -9.99939309e-01 4.89988457e-05 1.67311641e+02] [ 9.99930128e-01 -1.10172168e-02 -4.28492966e-03 1.22914946e+02] [ 4.28520944e-03 1.78788917e-06 9.99990818e-01 7.83162270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.31, Y:122.93, Z:0.78 [[-1.14692965e-02 -9.99934224e-01 5.06038082e-05 1.67312706e+02] [ 9.99925043e-01 -1.14694080e-02 -4.28491071e-03 1.22932363e+02] [ 4.28520926e-03 1.45510375e-06 9.99990818e-01 7.82724497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.148623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.32, Y:122.91, Z:0.78 [[-1.08787332e-02 -9.99940824e-01 5.22243159e-05 1.67315469e+02] [ 9.99931643e-01 -1.08788571e-02 -4.28489096e-03 1.22912674e+02] [ 4.28520553e-03 5.60656044e-06 9.99990818e-01 7.81867880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:122.89, Z:0.78 [[-1.05662793e-02 -9.99944174e-01 5.38466727e-05 1.67317288e+02] [ 9.99934993e-01 -1.05664130e-02 -4.28487057e-03 1.22894269e+02] [ 4.28520033e-03 8.56803307e-06 9.99990818e-01 7.82114874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.32, Y:122.89, Z:0.78 [[-9.41955946e-03 -9.99955633e-01 5.54497952e-05 1.67320949e+02] [ 9.99946453e-01 -9.41971059e-03 -4.28484982e-03 1.22892470e+02] [ 4.28518204e-03 1.50854283e-05 9.99990818e-01 7.82232527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:122.90, Z:0.78 [[-8.81814080e-03 -9.99961118e-01 5.70443638e-05 1.67322472e+02] [ 9.99951938e-01 -8.81830428e-03 -4.28482860e-03 1.22896983e+02] [ 4.28516503e-03 1.92574003e-05 9.99990818e-01 7.83343494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.268623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.32, Y:122.88, Z:0.79 [[-7.30966970e-03 -9.99973282e-01 5.86430454e-05 1.67324966e+02] [ 9.99964103e-01 -7.30985388e-03 -4.28480672e-03 1.22875986e+02] [ 4.28512091e-03 2.73204185e-05 9.99990818e-01 7.86595517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.33, Y:122.89, Z:0.79 [[-6.82721994e-03 -9.99976692e-01 6.02347693e-05 1.67325300e+02] [ 9.99967513e-01 -6.82741537e-03 -4.28478434e-03 1.22893831e+02] [ 4.28509572e-03 3.09796474e-05 9.99990818e-01 7.87025798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.328623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.33, Y:122.86, Z:0.79 [[-6.40756425e-03 -9.99979469e-01 6.18277580e-05 1.67326476e+02] [ 9.99970290e-01 -6.40777036e-03 -4.28476135e-03 1.22858930e+02] [ 4.28506956e-03 3.43710374e-05 9.99990818e-01 7.86916699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35862385300004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.33, Y:122.86, Z:0.79 [[-6.00940133e-03 -9.99981941e-01 6.34138379e-05 1.67328871e+02] [ 9.99972762e-01 -6.00961788e-03 -4.28473788e-03 1.22863384e+02] [ 4.28504160e-03 3.76634011e-05 9.99990818e-01 7.86429469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.388623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.33, Y:122.86, Z:0.79 [[-6.52580824e-03 -9.99978705e-01 6.49855104e-05 1.67330183e+02] [ 9.99969526e-01 -6.52602679e-03 -4.28471404e-03 1.22859249e+02] [ 4.28504689e-03 3.70223079e-05 9.99990818e-01 7.86120260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.33, Y:122.85, Z:0.79 [[-7.57805881e-03 -9.99971284e-01 6.65604375e-05 1.67332762e+02] [ 9.99962105e-01 -7.57827445e-03 -4.28468958e-03 1.22853101e+02] [ 4.28507095e-03 3.40882856e-05 9.99990818e-01 7.85251599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.448623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.33, Y:122.85, Z:0.78 [[-8.27799615e-03 -9.99965735e-01 6.81320919e-05 1.67334414e+02] [ 9.99956556e-01 -8.27821210e-03 -4.28466458e-03 1.22853794e+02] [ 4.28508178e-03 3.26606950e-05 9.99990818e-01 7.83500714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.34, Y:122.86, Z:0.78 [[-9.32516297e-03 -9.99956517e-01 6.97037369e-05 1.67336559e+02] [ 9.99947338e-01 -9.32537604e-03 -4.28463902e-03 1.22856404e+02] [ 4.28510272e-03 2.97451091e-05 9.99990818e-01 7.83577890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.34, Y:122.85, Z:0.78 [[-9.85965315e-03 -9.99951390e-01 7.12798826e-05 1.67337705e+02] [ 9.99942211e-01 -9.85986807e-03 -4.28461280e-03 1.22852947e+02] [ 4.28510733e-03 2.90309673e-05 9.99990818e-01 7.82275325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53862385300005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.34, Y:122.86, Z:0.78 [[-1.01049650e-02 -9.99948941e-01 7.28582832e-05 1.67338849e+02] [ 9.99939762e-01 -1.01051844e-02 -4.28458595e-03 1.22855821e+02] [ 4.28510343e-03 2.95583032e-05 9.99990818e-01 7.82167503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.568623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.34, Y:122.83, Z:0.78 [[-1.02725083e-02 -9.99947234e-01 7.44387097e-05 1.67341008e+02] [ 9.99938055e-01 -1.02727330e-02 -4.28455850e-03 1.22830029e+02] [ 4.28509711e-03 3.04209357e-05 9.99990818e-01 7.84158965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.598623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.34, Y:122.83, Z:0.78 [[-1.01244848e-02 -9.99948743e-01 7.60093077e-05 1.67342729e+02] [ 9.99939565e-01 -1.01247176e-02 -4.28453063e-03 1.22833694e+02] [ 4.28508060e-03 3.26260487e-05 9.99990818e-01 7.84458137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.628623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.34, Y:122.82, Z:0.79 [[-1.04138554e-02 -9.99945771e-01 7.75704661e-05 1.67343653e+02] [ 9.99936593e-01 -1.04140921e-02 -4.28450237e-03 1.22824510e+02] [ 4.28507785e-03 3.29473596e-05 9.99990818e-01 7.86051840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.658623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.34, Y:122.84, Z:0.79 [[-1.08366858e-02 -9.99941278e-01 7.91311167e-05 1.67344066e+02] [ 9.99932100e-01 -1.08369254e-02 -4.28447355e-03 1.22835882e+02] [ 4.28507949e-03 3.26962501e-05 9.99990818e-01 7.86700217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.688623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.35, Y:122.83, Z:0.79 [[-1.22331977e-02 -9.99925168e-01 8.06957041e-05 1.67345638e+02] [ 9.99915990e-01 -1.22334312e-02 -4.28444408e-03 1.22833337e+02] [ 4.28511065e-03 2.82764734e-05 9.99990818e-01 7.87314079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.718623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.35, Y:122.84, Z:0.79 [[-1.44651562e-02 -9.99895371e-01 8.22677709e-05 1.67347350e+02] [ 9.99886192e-01 -1.44653760e-02 -4.28441389e-03 1.22836370e+02] [ 4.28515565e-03 2.02836918e-05 9.99990818e-01 7.87844955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.748623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.35, Y:122.84, Z:0.79 [[-1.58987481e-02 -9.99873603e-01 8.38425852e-05 1.67349001e+02] [ 9.99864424e-01 -1.58989614e-02 -4.28438307e-03 1.22836484e+02] [ 4.28517455e-03 1.57148909e-05 9.99990818e-01 7.87612739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.778623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.35, Y:122.83, Z:0.79 [[-1.62677366e-02 -9.99867668e-01 8.54219167e-05 1.67349124e+02] [ 9.99858489e-01 -1.62679533e-02 -4.28435158e-03 1.22834032e+02] [ 4.28517427e-03 1.57131256e-05 9.99990818e-01 7.87601956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.35, Y:122.83, Z:0.79 [[-1.78898996e-02 -9.99839959e-01 8.70030003e-05 1.67350787e+02] [ 9.99830780e-01 -1.78901082e-02 -4.28431948e-03 1.22829826e+02] [ 4.28519030e-03 1.03422322e-05 9.99990818e-01 7.87951984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.838623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.35, Y:122.84, Z:0.79 [[-2.14411243e-02 -9.99770109e-01 8.85828171e-05 1.67353259e+02] [ 9.99760929e-01 -2.14413070e-02 -4.28428681e-03 1.22841839e+02] [ 4.28520122e-03 -3.29828635e-06 9.99990818e-01 7.89725534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86862385300003 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:167.35, Y:122.83, Z:0.80 [[-2.30945909e-02 -9.99733280e-01 9.01699820e-05 1.67354148e+02] [ 9.99724100e-01 -2.30947653e-02 -4.28425341e-03 1.22832296e+02] [ 4.28519317e-03 -8.79797562e-06 9.99990818e-01 7.98297999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.898623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.36, Y:122.84, Z:0.79 [[-2.63251573e-02 -9.99653429e-01 9.17609793e-05 1.67359454e+02] [ 9.99644249e-01 -2.63253088e-02 -4.28421933e-03 1.22835817e+02] [ 4.28515018e-03 -2.10544126e-05 9.99990818e-01 7.90647441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.36, Y:122.83, Z:0.79 [[-2.80680903e-02 -9.99606009e-01 9.33514471e-05 1.67362320e+02] [ 9.99596829e-01 -2.80682327e-02 -4.28418467e-03 1.22829978e+02] [ 4.28511696e-03 -2.69350719e-05 9.99990818e-01 7.90223130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.958623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:167.37, Y:122.85, Z:0.79 [[-3.10944964e-02 -9.99516445e-01 9.49429350e-05 1.67366648e+02] [ 9.99507264e-01 -3.10946178e-02 -4.28414940e-03 1.22853298e+02] [ 4.28503000e-03 -3.83173151e-05 9.99990818e-01 7.90030040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.37, Y:122.85, Z:0.79 [[-3.24506009e-02 -9.99473336e-01 9.65470735e-05 1.67369112e+02] [ 9.99464155e-01 -3.24507167e-02 -4.28411325e-03 1.22847270e+02] [ 4.28498999e-03 -4.25267102e-05 9.99990818e-01 7.89351134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.018623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.37, Y:122.84, Z:0.79 [[-3.37956390e-02 -9.99428759e-01 9.81638191e-05 1.67371401e+02] [ 9.99419579e-01 -3.37957493e-02 -4.28407621e-03 1.22842017e+02] [ 4.28494649e-03 -4.66762501e-05 9.99990818e-01 7.88102319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04862385300004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.38, Y:122.84, Z:0.79 [[-3.50218414e-02 -9.99386542e-01 9.97771110e-05 1.67376237e+02] [ 9.99377361e-01 -3.50219474e-02 -4.28403863e-03 1.22837724e+02] [ 4.28490495e-03 -5.03199356e-05 9.99990818e-01 7.94156135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.38, Y:122.82, Z:0.79 [[-3.52714883e-02 -9.99377762e-01 1.01387493e-04 1.67379729e+02] [ 9.99368582e-01 -3.52715989e-02 -4.28400052e-03 1.22824890e+02] [ 4.28491095e-03 -4.97795995e-05 9.99990818e-01 7.89572126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.38, Y:122.84, Z:0.79 [[-3.43555399e-02 -9.99409669e-01 1.02991050e-04 1.67384023e+02] [ 9.99400488e-01 -3.43556658e-02 -4.28396197e-03 1.22841708e+02] [ 4.28497134e-03 -4.42485212e-05 9.99990819e-01 7.90500420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.138623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.39, Y:122.82, Z:0.79 [[-3.37206618e-02 -9.99431291e-01 1.04599045e-04 1.67386964e+02] [ 9.99422111e-01 -3.37208004e-02 -4.28392271e-03 1.22820987e+02] [ 4.28501357e-03 -3.99181106e-05 9.99990819e-01 7.91062648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16862385300004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:167.39, Y:122.81, Z:0.79 [[-3.26592366e-02 -9.99466539e-01 1.06207552e-04 1.67389460e+02] [ 9.99457359e-01 -3.26593919e-02 -4.28388283e-03 1.22811047e+02] [ 4.28506622e-03 -3.37584231e-05 9.99990819e-01 7.91934468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.39, Y:122.81, Z:0.79 [[-2.90020883e-02 -9.99579345e-01 1.07801236e-04 1.67393377e+02] [ 9.99570166e-01 -2.90022839e-02 -4.28384273e-03 1.22813565e+02] [ 4.28516719e-03 -1.64854858e-05 9.99990819e-01 7.90826354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.40, Y:122.78, Z:0.79 [[-2.43383728e-02 -9.99703772e-01 1.09393350e-04 1.67398175e+02] [ 9.99694594e-01 -2.43386181e-02 -4.28380207e-03 1.22783176e+02] [ 4.28519557e-03 5.09916924e-06 9.99990819e-01 7.90185741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.258623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:167.40, Y:122.76, Z:0.80 [[-2.17447128e-02 -9.99763550e-01 1.10972464e-04 1.67399627e+02] [ 9.99754372e-01 -2.17449886e-02 -4.28376116e-03 1.22757497e+02] [ 4.28516136e-03 1.77960504e-05 9.99990819e-01 7.98628567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.40, Y:122.76, Z:0.79 [[-1.93017911e-02 -9.99813697e-01 1.12523758e-04 1.67400927e+02] [ 9.99804520e-01 -1.93020961e-02 -4.28372041e-03 1.22761071e+02] [ 4.28509429e-03 2.98182853e-05 9.99990819e-01 7.90720632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.318623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.40, Y:122.74, Z:0.79 [[-1.69401849e-02 -9.99856498e-01 1.14065836e-04 1.67402004e+02] [ 9.99847323e-01 -1.69405181e-02 -4.28367935e-03 1.22736265e+02] [ 4.28499697e-03 4.14821002e-05 9.99990819e-01 7.91273074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.348623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.40, Y:122.73, Z:0.79 [[-1.15680539e-02 -9.99933081e-01 1.15599027e-04 1.67402835e+02] [ 9.99923908e-01 -1.15684430e-02 -4.28363797e-03 1.22729329e+02] [ 4.28468862e-03 6.60368759e-05 9.99990819e-01 7.92262988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.378623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.40, Y:122.70, Z:0.79 [[-6.60297128e-03 -9.99978193e-01 1.17118270e-04 1.67403467e+02] [ 9.99969022e-01 -6.60341242e-03 -4.28359644e-03 1.22704367e+02] [ 4.28427641e-03 8.88301782e-05 9.99990819e-01 7.91473223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.408623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.40, Y:122.70, Z:0.79 [[-4.55105555e-03 -9.99989637e-01 1.18623604e-04 1.67403074e+02] [ 9.99980467e-01 -4.55152196e-03 -4.28355475e-03 1.22698408e+02] [ 4.28405028e-03 9.91265914e-05 9.99990819e-01 7.90251500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.438623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.40, Y:122.68, Z:0.79 [[-2.63899214e-03 -9.99996511e-01 1.20115944e-04 1.67402918e+02] [ 9.99987342e-01 -2.63948246e-03 -4.28351290e-03 1.22680123e+02] [ 4.28381500e-03 1.08810266e-04 9.99990819e-01 7.90484407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.468623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.40, Y:122.66, Z:0.79 [[ 8.27065555e-04 -9.99999651e-01 1.21598853e-04 1.67401707e+02] [ 9.99990484e-01 8.26537107e-04 -4.28347081e-03 1.22663441e+02] [ 4.28336880e-03 1.25140407e-04 9.99990819e-01 7.90889259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.498623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.40, Y:122.66, Z:0.79 [[ 2.09346109e-03 -9.99997801e-01 1.23067184e-04 1.67400426e+02] [ 9.99988636e-01 2.09291475e-03 -4.28342862e-03 1.22664148e+02] [ 4.28316163e-03 1.32032977e-04 9.99990819e-01 7.90947670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.528623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.40, Y:122.67, Z:0.79 [[ 3.68450522e-03 -9.99993204e-01 1.24530273e-04 1.67397653e+02] [ 9.99984041e-01 3.68393803e-03 -4.28338608e-03 1.22674060e+02] [ 4.28289821e-03 1.40310444e-04 9.99990819e-01 7.92097241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:167.40, Y:122.66, Z:0.79 [[ 3.67721660e-03 -9.99993231e-01 1.26000541e-04 1.67396778e+02] [ 9.99984068e-01 3.67664319e-03 -4.28334283e-03 1.22660757e+02] [ 4.28285058e-03 1.41749313e-04 9.99990819e-01 7.92228179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.588623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:167.40, Y:122.66, Z:0.79 [[ 3.21033781e-03 -9.99994839e-01 1.27471677e-04 1.67395694e+02] [ 9.99985675e-01 3.20976239e-03 -4.28329905e-03 1.22657267e+02] [ 4.28286779e-03 1.41220688e-04 9.99990819e-01 7.91237132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.39, Y:122.68, Z:0.79 [[ 1.12910722e-03 -9.99999354e-01 1.28937111e-04 1.67392407e+02] [ 9.99990190e-01 1.12854460e-03 -4.28325494e-03 1.22679436e+02] [ 4.28310666e-03 1.33772100e-04 9.99990819e-01 7.89068760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.648623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.39, Y:122.68, Z:0.79 [[-2.32736932e-03 -9.99997283e-01 1.30414152e-04 1.67389428e+02] [ 9.99988117e-01 -2.32790658e-03 -4.28320997e-03 1.22680844e+02] [ 4.28350192e-03 1.20443991e-04 9.99990819e-01 7.88856692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.39, Y:122.67, Z:0.79 [[-4.76847137e-03 -9.99988622e-01 1.31905462e-04 1.67388048e+02] [ 9.99979455e-01 -4.76899264e-03 -4.28316404e-03 1.22670675e+02] [ 4.28374436e-03 1.11478607e-04 9.99990819e-01 7.86855493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.708623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:167.39, Y:122.69, Z:0.79 [[-7.09550099e-03 -9.99974818e-01 1.33394732e-04 1.67386248e+02] [ 9.99965650e-01 -7.09600731e-03 -4.28311766e-03 1.22692753e+02] [ 4.28395637e-03 1.02999285e-04 9.99990819e-01 7.89740409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.39, Y:122.68, Z:0.79 [[-9.41586393e-03 -9.99955661e-01 1.34892357e-04 1.67385468e+02] [ 9.99946492e-01 -9.41635538e-03 -4.28307049e-03 1.22683843e+02] [ 4.28415078e-03 9.45563302e-05 9.99990819e-01 7.89981954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.768623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.38, Y:122.71, Z:0.79 [[-1.32772391e-02 -9.99911844e-01 1.36399106e-04 1.67382960e+02] [ 9.99902674e-01 -1.32777016e-02 -4.28302251e-03 1.22711268e+02] [ 4.28445600e-03 7.95191169e-05 9.99990819e-01 7.89076359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79862385300004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:167.38, Y:122.69, Z:0.79 [[-1.54662835e-02 -9.99880380e-01 1.37917441e-04 1.67382717e+02] [ 9.99871210e-01 -1.54667324e-02 -4.28297361e-03 1.22690764e+02] [ 4.28459442e-03 7.16579941e-05 9.99990819e-01 7.88975199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.828623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.38, Y:122.70, Z:0.79 [[-1.93751674e-02 -9.99812274e-01 1.39442082e-04 1.67380537e+02] [ 9.99803102e-01 -1.93755870e-02 -4.28292397e-03 1.22703518e+02] [ 4.28482173e-03 5.64322577e-05 9.99990819e-01 7.90674291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.38, Y:122.72, Z:0.79 [[-2.17287664e-02 -9.99763893e-01 1.40965066e-04 1.67379221e+02] [ 9.99754720e-01 -2.17291710e-02 -4.28287385e-03 1.22716770e+02] [ 4.28492568e-03 4.78689241e-05 9.99990819e-01 7.90502061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.888623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.38, Y:122.71, Z:0.79 [[-2.55751094e-02 -9.99672893e-01 1.42504189e-04 1.67379387e+02] [ 9.99663719e-01 -2.55754852e-02 -4.28282264e-03 1.22712613e+02] [ 4.28506631e-03 3.29226107e-05 9.99990819e-01 7.91558453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.38, Y:122.71, Z:0.79 [[-2.74924359e-02 -9.99622001e-01 1.44050770e-04 1.67379407e+02] [ 9.99612827e-01 -2.74928007e-02 -4.28277062e-03 1.22714288e+02] [ 4.28511209e-03 2.62512007e-05 9.99990819e-01 7.90257202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.948623853 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:167.38, Y:122.73, Z:0.80 [[-2.98769428e-02 -9.99553574e-01 1.45599023e-04 1.67378314e+02] [ 9.99544399e-01 -2.98772924e-02 -4.28271798e-03 1.22728019e+02] [ 4.28515617e-03 1.75781684e-05 9.99990819e-01 7.96239192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97862385300004 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:167.38, Y:122.72, Z:0.79 [[-3.15855451e-02 -9.99501041e-01 1.46961424e-04 1.67378966e+02] [ 9.99491866e-01 -3.15858848e-02 -4.28267123e-03 1.22719598e+02] [ 4.28517626e-03 1.16162428e-05 9.99990819e-01 7.87989454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.008623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.38, Y:122.73, Z:0.79 [[-3.36318359e-02 -9.99434279e-01 1.48525344e-04 1.67378623e+02] [ 9.99425103e-01 -3.36321636e-02 -4.28261699e-03 1.22730158e+02] [ 4.28518945e-03 4.40768562e-06 9.99990819e-01 7.87473091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03862385300005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.38, Y:122.71, Z:0.79 [[-3.48575585e-02 -9.99392279e-01 1.50092979e-04 1.67379740e+02] [ 9.99383104e-01 -3.48578816e-02 -4.28256205e-03 1.22711657e+02] [ 4.28519137e-03 7.20730060e-07 9.99990819e-01 7.88159940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.068623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:167.38, Y:122.72, Z:0.79 [[-3.58762641e-02 -9.99356228e-01 1.51658859e-04 1.67380535e+02] [ 9.99347052e-01 -3.58765846e-02 -4.28250660e-03 1.22721210e+02] [ 4.28519064e-03 -2.08050426e-06 9.99990819e-01 7.87776555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.098623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:167.38, Y:122.74, Z:0.79 [[-3.70254521e-02 -9.99314311e-01 1.53222718e-04 1.67381285e+02] [ 9.99305135e-01 -3.70257687e-02 -4.28245064e-03 1.22739939e+02] [ 4.28518740e-03 -5.44342168e-06 9.99990819e-01 7.88585049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.128623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.38, Y:122.73, Z:0.79 [[-3.72019835e-02 -9.99307755e-01 1.54804622e-04 1.67382212e+02] [ 9.99298579e-01 -3.72023053e-02 -4.28239346e-03 1.22730689e+02] [ 4.28518808e-03 -4.61749133e-06 9.99990819e-01 7.89333942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.158623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.38, Y:122.73, Z:0.79 [[-3.67571402e-02 -9.99324216e-01 1.56394404e-04 1.67382266e+02] [ 9.99315040e-01 -3.67574729e-02 -4.28233540e-03 1.22731920e+02] [ 4.28519013e-03 -1.11912265e-06 9.99990819e-01 7.90563506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.188623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:167.38, Y:122.71, Z:0.79 [[-3.64809367e-02 -9.99334337e-01 1.57982379e-04 1.67382770e+02] [ 9.99325162e-01 -3.64812787e-02 -4.28227681e-03 1.22714150e+02] [ 4.28518966e-03 1.65429761e-06 9.99990819e-01 7.90474209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.218623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.38, Y:122.71, Z:0.79 [[-3.58957738e-02 -9.99355526e-01 1.59563708e-04 1.67383247e+02] [ 9.99346352e-01 -3.58961280e-02 -4.28221789e-03 1.22707778e+02] [ 4.28518583e-03 5.74588446e-06 9.99990819e-01 7.91207536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.248623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:167.38, Y:122.70, Z:0.79 [[-3.37282435e-02 -9.99431028e-01 1.61134443e-04 1.67384013e+02] [ 9.99421854e-01 -3.37286243e-02 -4.28215878e-03 1.22699358e+02] [ 4.28515720e-03 1.66115898e-05 9.99990819e-01 7.93392793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.278623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.38, Y:122.68, Z:0.79 [[-3.10362828e-02 -9.99518245e-01 1.62699674e-04 1.67383789e+02] [ 9.99509073e-01 -3.10366951e-02 -4.28209931e-03 1.22684656e+02] [ 4.28508605e-03 2.97193546e-05 9.99990819e-01 7.92644081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30862385300003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:167.38, Y:122.68, Z:0.79 [[-2.97400618e-02 -9.99557653e-01 1.64255246e-04 1.67383690e+02] [ 9.99548482e-01 -2.97404926e-02 -4.28203964e-03 1.22675880e+02] [ 4.28503053e-03 3.68329578e-05 9.99990819e-01 7.92093257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.338623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.38, Y:122.68, Z:0.79 [[-2.84758199e-02 -9.99594468e-01 1.65800565e-04 1.67382941e+02] [ 9.99585297e-01 -2.84762689e-02 -4.28197981e-03 1.22681621e+02] [ 4.28496471e-03 4.37989214e-05 9.99990819e-01 7.92094888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.38, Y:122.65, Z:0.79 [[-2.61257476e-02 -9.99658650e-01 1.67346838e-04 1.67383024e+02] [ 9.99649481e-01 -2.61262247e-02 -4.28191938e-03 1.22650148e+02] [ 4.28482989e-03 5.54198354e-05 9.99990819e-01 7.92983183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.398623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.38, Y:122.68, Z:0.79 [[-2.56675829e-02 -9.99670519e-01 1.68882016e-04 1.67381151e+02] [ 9.99661351e-01 -2.56680709e-02 -4.28185883e-03 1.22676643e+02] [ 4.28478291e-03 5.89198582e-05 9.99990819e-01 7.94279787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42862385300003 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:167.38, Y:122.67, Z:0.80 [[-2.52620197e-02 -9.99680850e-01 1.70417173e-04 1.67380319e+02] [ 9.99671682e-01 -2.52625180e-02 -4.28179773e-03 1.22665130e+02] [ 4.28473636e-03 6.21943630e-05 9.99990819e-01 7.96885690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.458623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:167.38, Y:122.65, Z:0.80 [[-2.55128041e-02 -9.99674481e-01 1.71962891e-04 1.67380463e+02] [ 9.99665313e-01 -2.55133067e-02 -4.28173565e-03 1.22652976e+02] [ 4.28472920e-03 6.26662548e-05 9.99990819e-01 7.97536249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48862385300004 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:167.38, Y:122.65, Z:0.80 [[-2.60293206e-02 -9.99661165e-01 1.73498966e-04 1.67379489e+02] [ 9.99651997e-01 -2.60298250e-02 -4.28167340e-03 1.22651026e+02] [ 4.28473877e-03 6.19895385e-05 9.99990819e-01 7.97144451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.518623853 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:167.38, Y:122.65, Z:0.80 [[-2.62482247e-02 -9.99655441e-01 1.75029774e-04 1.67377179e+02] [ 9.99646273e-01 -2.62487336e-02 -4.28161083e-03 1.22648076e+02] [ 4.28472987e-03 6.25831785e-05 9.99990819e-01 7.96708350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54862385300004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.38, Y:122.65, Z:0.80 [[-2.65562730e-02 -9.99647304e-01 1.76560559e-04 1.67376270e+02] [ 9.99638137e-01 -2.65567857e-02 -4.28154770e-03 1.22652297e+02] [ 4.28472650e-03 6.27947189e-05 9.99990819e-01 7.96513872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.578623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.38, Y:122.65, Z:0.80 [[-2.70045075e-02 -9.99635296e-01 1.78095122e-04 1.67375438e+02] [ 9.99626129e-01 -2.70050227e-02 -4.28148387e-03 1.22653997e+02] [ 4.28473186e-03 6.24091741e-05 9.99990819e-01 7.95900296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.37, Y:122.64, Z:0.79 [[-2.75360196e-02 -9.99620796e-01 1.79635417e-04 1.67372467e+02] [ 9.99611629e-01 -2.75365364e-02 -4.28141924e-03 1.22641435e+02] [ 4.28474225e-03 6.16724074e-05 9.99990819e-01 7.92857152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.638623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.37, Y:122.64, Z:0.79 [[-2.84135539e-02 -9.99596237e-01 1.81172563e-04 1.67367885e+02] [ 9.99587070e-01 -2.84140693e-02 -4.28135419e-03 1.22638808e+02] [ 4.28477339e-03 5.94492636e-05 9.99990819e-01 7.91535278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.37, Y:122.64, Z:0.79 [[-2.90453288e-02 -9.99578079e-01 1.82704435e-04 1.67365712e+02] [ 9.99568912e-01 -2.90458450e-02 -4.28128882e-03 1.22644551e+02] [ 4.28478926e-03 5.82742314e-05 9.99990819e-01 7.93250165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.698623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.37, Y:122.64, Z:0.79 [[-2.94049344e-02 -9.99567564e-01 1.84240348e-04 1.67365891e+02] [ 9.99558398e-01 -2.94054538e-02 -4.28122272e-03 1.22642103e+02] [ 4.28478904e-03 5.82699137e-05 9.99990819e-01 7.93239384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.36, Y:122.64, Z:0.79 [[-2.99687818e-02 -9.99550818e-01 1.85780547e-04 1.67364521e+02] [ 9.99541651e-01 -2.99693027e-02 -4.28115589e-03 1.22635054e+02] [ 4.28480058e-03 5.73943683e-05 9.99990819e-01 7.92722564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.758623853 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:167.36, Y:122.64, Z:0.80 [[-3.07557719e-02 -9.99526912e-01 1.87318565e-04 1.67360197e+02] [ 9.99517745e-01 -3.07562921e-02 -4.28108859e-03 1.22640424e+02] [ 4.28482448e-03 5.55600452e-05 9.99990819e-01 8.02962557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78862385300005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.36, Y:122.63, Z:0.80 [[-3.16051557e-02 -9.99500414e-01 1.88858231e-04 1.67360023e+02] [ 9.99491248e-01 -3.16056748e-02 -4.28102067e-03 1.22631478e+02] [ 4.28485092e-03 5.34598244e-05 9.99990819e-01 7.95453737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.818623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:167.36, Y:122.63, Z:0.79 [[-3.34803407e-02 -9.99439358e-01 1.90398842e-04 1.67356678e+02] [ 9.99430191e-01 -3.34808491e-02 -4.28095215e-03 1.22632861e+02] [ 4.28492678e-03 4.69626151e-05 9.99990819e-01 7.94922428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.848623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:167.35, Y:122.64, Z:0.79 [[-3.45590020e-02 -9.99402641e-01 1.91937975e-04 1.67354911e+02] [ 9.99393473e-01 -3.45595072e-02 -4.28088314e-03 1.22640576e+02] [ 4.28495920e-03 4.38785109e-05 9.99990819e-01 7.93366219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.878623853 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:167.35, Y:122.65, Z:0.80 [[-3.58123735e-02 -9.99358513e-01 1.93485051e-04 1.67352079e+02] [ 9.99349345e-01 -3.58128738e-02 -4.28081321e-03 1.22654207e+02] [ 4.28499638e-03 4.00530776e-05 9.99990819e-01 8.00685816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.908623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:167.35, Y:122.65, Z:0.80 [[-3.74832566e-02 -9.99297237e-01 1.95046064e-04 1.67350118e+02] [ 9.99288069e-01 -3.74837482e-02 -4.28074209e-03 1.22648527e+02] [ 4.28504480e-03 3.44510500e-05 9.99990819e-01 7.95382696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.938623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:167.35, Y:122.63, Z:0.80 [[-3.84759611e-02 -9.99259507e-01 1.96614009e-04 1.67349272e+02] [ 9.99250338e-01 -3.84764504e-02 -4.28067007e-03 1.22632254e+02] [ 4.28506527e-03 3.17637201e-05 9.99990819e-01 7.95586883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.968623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:167.34, Y:122.67, Z:0.80 [[-3.99095151e-02 -9.99203278e-01 1.98172752e-04 1.67344845e+02] [ 9.99194110e-01 -3.99099979e-02 -4.28059791e-03 1.22665990e+02] [ 4.28509654e-03 2.71764593e-05 9.99990819e-01 7.97090744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.998623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.34, Y:122.64, Z:0.80 [[-4.04194666e-02 -9.99182780e-01 1.99744128e-04 1.67344215e+02] [ 9.99173611e-01 -4.04199514e-02 -4.28052458e-03 1.22641229e+02] [ 4.28510010e-03 2.65625415e-05 9.99990819e-01 7.96034821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.028623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:167.34, Y:122.64, Z:0.80 [[-4.10764446e-02 -9.99155986e-01 2.01323039e-04 1.67342432e+02] [ 9.99146818e-01 -4.10769302e-02 -4.28045032e-03 1.22637871e+02] [ 4.28510730e-03 2.53255936e-05 9.99990819e-01 7.96407730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.34, Y:122.65, Z:0.79 [[-4.14821616e-02 -9.99139224e-01 2.02889373e-04 1.67338429e+02] [ 9.99130056e-01 -4.14826501e-02 -4.28037608e-03 1.22646753e+02] [ 4.28510802e-03 2.51536181e-05 9.99990819e-01 7.94387573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.088623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:167.33, Y:122.64, Z:0.79 [[-4.14312126e-02 -9.99141338e-01 2.04461676e-04 1.67334670e+02] [ 9.99132170e-01 -4.14317083e-02 -4.28030097e-03 1.22643522e+02] [ 4.28509684e-03 2.69461783e-05 9.99990819e-01 7.91837218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:167.33, Y:122.64, Z:0.79 [[-4.16317878e-02 -9.99133000e-01 2.06039995e-04 1.67332821e+02] [ 9.99123832e-01 -4.16322885e-02 -4.28022500e-03 1.22635739e+02] [ 4.28509196e-03 2.76660507e-05 9.99990819e-01 7.92714835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.148623853 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:167.33, Y:122.61, Z:0.79 [[-4.16470335e-02 -9.99132364e-01 2.07615005e-04 1.67331683e+02] [ 9.99123197e-01 -4.16475408e-02 -4.28014860e-03 1.22612395e+02] [ 4.28508164e-03 2.91774755e-05 9.99990819e-01 7.91665581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17862385300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.33, Y:122.63, Z:0.79 [[-4.24770067e-02 -9.99097423e-01 2.09175773e-04 1.67325912e+02] [ 9.99088255e-01 -4.24775130e-02 -4.28007232e-03 1.22627882e+02] [ 4.28509449e-03 2.71803975e-05 9.99990819e-01 7.92857584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.208623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.32, Y:122.66, Z:0.79 [[-4.37072403e-02 -9.99044360e-01 2.10734792e-04 1.67322295e+02] [ 9.99035192e-01 -4.37077420e-02 -4.27999556e-03 1.22656038e+02] [ 4.28511616e-03 2.34646794e-05 9.99990819e-01 7.92240275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.32, Y:122.66, Z:0.79 [[-4.70471553e-02 -9.98892647e-01 2.12320865e-04 1.67318709e+02] [ 9.98883478e-01 -4.70476332e-02 -4.27991688e-03 1.22661012e+02] [ 4.28516669e-03 1.07258896e-05 9.99990819e-01 7.93471278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.268623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.32, Y:122.65, Z:0.79 [[-4.96407225e-02 -9.98767117e-01 2.13929153e-04 1.67318019e+02] [ 9.98757947e-01 -4.96411834e-02 -4.27983648e-03 1.22652267e+02] [ 4.28517964e-03 1.20926588e-06 9.99990819e-01 7.93758044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.32, Y:122.67, Z:0.80 [[-5.49341101e-02 -9.98489958e-01 2.15537939e-04 1.67315844e+02] [ 9.98480787e-01 -5.49345293e-02 -4.27975546e-03 1.22673987e+02] [ 4.28513333e-03 -1.98940672e-05 9.99990819e-01 7.96306368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.328623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.32, Y:122.68, Z:0.80 [[-5.77627401e-02 -9.98330315e-01 2.17157256e-04 1.67315411e+02] [ 9.98321143e-01 -5.77631403e-02 -4.27967330e-03 1.22676613e+02] [ 4.28507128e-03 -3.04129767e-05 9.99990819e-01 7.96699362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35862385300004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.32, Y:122.67, Z:0.80 [[-6.30589673e-02 -9.98009779e-01 2.18793487e-04 1.67315427e+02] [ 9.98000605e-01 -6.30593258e-02 -4.27958964e-03 1.22674145e+02] [ 4.28486928e-03 -5.15104712e-05 9.99990819e-01 7.95900783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.388623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.32, Y:122.66, Z:0.80 [[-6.56090209e-02 -9.97845383e-01 2.20433481e-04 1.67316716e+02] [ 9.97836208e-01 -6.56093630e-02 -4.27950517e-03 1.22657362e+02] [ 4.28474697e-03 -6.08176352e-05 9.99990819e-01 7.95276413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.32, Y:122.65, Z:0.79 [[-6.98398186e-02 -9.97558194e-01 2.22064490e-04 1.67317522e+02] [ 9.97549018e-01 -6.98401288e-02 -4.27942053e-03 1.22652265e+02] [ 4.28448003e-03 -7.73537406e-05 9.99990819e-01 7.94195169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.448623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:167.32, Y:122.66, Z:0.79 [[-7.17475056e-02 -9.97422802e-01 2.23685287e-04 1.67317708e+02] [ 9.97413625e-01 -7.17478052e-02 -4.27933581e-03 1.22658045e+02] [ 4.28435605e-03 -8.39249170e-05 9.99990819e-01 7.94058220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47862385300004 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:167.32, Y:122.67, Z:0.80 [[-7.33417252e-02 -9.97306844e-01 2.25309528e-04 1.67316485e+02] [ 9.97297667e-01 -7.33420171e-02 -4.27925029e-03 1.22672151e+02] [ 4.28425026e-03 -8.91469326e-05 9.99990819e-01 8.02051942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.508623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:167.32, Y:122.65, Z:0.79 [[-7.51719997e-02 -9.97170557e-01 2.26948588e-04 1.67320971e+02] [ 9.97161380e-01 -7.51722818e-02 -4.27916337e-03 1.22651114e+02] [ 4.28411596e-03 -9.53688998e-05 9.99990819e-01 7.94618232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53862385300005 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:167.32, Y:122.64, Z:0.80 [[-7.58353018e-02 -9.97120331e-01 2.28585970e-04 1.67322748e+02] [ 9.97111154e-01 -7.58355848e-02 -4.27907590e-03 1.22640513e+02] [ 4.28408853e-03 -9.65793917e-05 9.99990819e-01 7.96156817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.568623853 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:167.32, Y:122.64, Z:0.79 [[-7.55830783e-02 -9.97139481e-01 2.30207173e-04 1.67324661e+02] [ 9.97130305e-01 -7.55833706e-02 -4.27898868e-03 1.22638193e+02] [ 4.28414839e-03 -9.38725874e-05 9.99990819e-01 7.94724076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.598623853 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:167.32, Y:122.65, Z:0.80 [[-7.48681735e-02 -9.97193413e-01 2.31823812e-04 1.67324304e+02] [ 9.97184237e-01 -7.48684793e-02 -4.27890109e-03 1.22654436e+02] [ 4.28424828e-03 -8.91824580e-05 9.99990819e-01 7.95100213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.628623853 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:167.33, Y:122.64, Z:0.79 [[-7.35310186e-02 -9.97292903e-01 2.33451626e-04 1.67325432e+02] [ 9.97283728e-01 -7.35313437e-02 -4.27881228e-03 1.22640119e+02] [ 4.28439513e-03 -8.18079171e-05 9.99990819e-01 7.94459975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.658623853 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:167.32, Y:122.67, Z:0.79 [[-6.88942272e-02 -9.97623942e-01 2.35083456e-04 1.67324730e+02] [ 9.97614769e-01 -6.88946019e-02 -4.27872262e-03 1.22667138e+02] [ 4.28475211e-03 -6.02565606e-05 9.99990819e-01 7.93179157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.688623853 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:167.33, Y:122.66, Z:0.79 [[-6.65189518e-02 -9.97785134e-01 2.36725316e-04 1.67325383e+02] [ 9.97775961e-01 -6.65193554e-02 -4.27863178e-03 1.22659212e+02] [ 4.28490200e-03 -4.84112719e-05 9.99990819e-01 7.91885241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.718623853 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:167.33, Y:122.65, Z:0.79 [[-6.11761809e-02 -9.98126955e-01 2.38381760e-04 1.67325986e+02] [ 9.98117785e-01 -6.11766408e-02 -4.27853949e-03 1.22652652e+02] [ 4.28510899e-03 -2.38116322e-05 9.99990819e-01 7.91505151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.748623853 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:167.33, Y:122.64, Z:0.79 [[-5.88596861e-02 -9.98266237e-01 2.40032623e-04 1.67326500e+02] [ 9.98257069e-01 -5.88601743e-02 -4.27844687e-03 1.22638333e+02] [ 4.28515742e-03 -1.22137776e-05 9.99990819e-01 7.94176895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.778623853 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:167.33, Y:122.61, Z:0.79 [[-5.46894207e-02 -9.98503385e-01 2.41673825e-04 1.67327625e+02] [ 9.98494219e-01 -5.46899542e-02 -4.27835417e-03 1.22609551e+02] [ 4.28516825e-03 7.32920657e-06 9.99990819e-01 7.94091918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80862385300003 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:167.33, Y:122.61, Z:0.80 [[-5.32478070e-02 -9.98581300e-01 2.43292608e-04 1.67327616e+02] [ 9.98572135e-01 -5.32483606e-02 -4.27826211e-03 1.22608804e+02] [ 4.28514747e-03 1.51371445e-05 9.99990819e-01 7.95211812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.838623853 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:167.33, Y:122.61, Z:0.80 [[-5.19215735e-02 -9.98651135e-01 2.44896865e-04 1.67327559e+02] [ 9.98641972e-01 -5.19221462e-02 -4.27817028e-03 1.22609755e+02] [ 4.28511518e-03 2.24349558e-05 9.99990819e-01 7.98263332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86862385300003 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:167.33, Y:122.58, Z:0.80 [[-4.97961218e-02 -9.98759373e-01 2.46503964e-04 1.67328486e+02] [ 9.98750211e-01 -4.97967208e-02 -4.27807768e-03 1.22584669e+02] [ 4.28504527e-03 3.31642094e-05 9.99990819e-01 7.99750832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.898623853 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:167.33, Y:122.57, Z:0.80 [[-4.93299703e-02 -9.98782505e-01 2.48100101e-04 1.67328906e+02] [ 9.98773344e-01 -4.93305805e-02 -4.27798511e-03 1.22571063e+02] [ 4.28501561e-03 3.67628890e-05 9.99990819e-01 7.99046792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92862385300003 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:167.33, Y:122.60, Z:0.80 [[-4.91124955e-02 -9.98793222e-01 2.49677051e-04 1.67326586e+02] [ 9.98784062e-01 -4.91131144e-02 -4.27789307e-03 1.22601164e+02] [ 4.28499302e-03 3.92754555e-05 9.99990819e-01 7.99804231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.958623853 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:167.33, Y:122.58, Z:0.80 [[-4.95384167e-02 -9.98772187e-01 2.51266180e-04 1.67327449e+02] [ 9.98763027e-01 -4.95390386e-02 -4.27779973e-03 1.22580780e+02] [ 4.28499488e-03 3.90399454e-05 9.99990819e-01 7.99080099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98862385300004 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:167.33, Y:122.58, Z:0.80 [[-5.03678491e-02 -9.98730702e-01 2.52863255e-04 1.67326702e+02] [ 9.98721542e-01 -5.03684702e-02 -4.27770532e-03 1.22580790e+02] [ 4.28501198e-03 3.70811632e-05 9.99990819e-01 7.98457048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.018623853 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:167.33, Y:122.59, Z:0.80 [[-5.11016918e-02 -9.98693423e-01 2.54451797e-04 1.67326265e+02] [ 9.98684262e-01 -5.11023129e-02 -4.27761083e-03 1.22586418e+02] [ 4.28502488e-03 3.55238555e-05 9.99990819e-01 7.98040503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04862385300004 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:167.33, Y:122.59, Z:0.80 [[-5.28134719e-02 -9.98604362e-01 2.56046478e-04 1.67325173e+02] [ 9.98595201e-01 -5.28140842e-02 -4.27751537e-03 1.22590449e+02] [ 4.28506837e-03 2.97763461e-05 9.99990819e-01 7.97377255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.078623853 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:167.32, Y:122.60, Z:0.80 [[-5.41522009e-02 -9.98532660e-01 2.57649159e-04 1.67323485e+02] [ 9.98523499e-01 -5.41528077e-02 -4.27741884e-03 1.22596022e+02] [ 4.28509483e-03 2.56370959e-05 9.99990819e-01 8.01238970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10862385300004 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:167.32, Y:122.59, Z:0.80 [[-5.52833592e-02 -9.98470672e-01 2.59260452e-04 1.67323708e+02] [ 9.98461511e-01 -5.52839626e-02 -4.27732117e-03 1.22585726e+02] [ 4.28511269e-03 2.23968999e-05 9.99990819e-01 7.97667758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.138623853 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:167.32, Y:122.58, Z:0.80 [[-5.73666409e-02 -9.98353144e-01 2.60871708e-04 1.67322344e+02] [ 9.98343982e-01 -5.73672320e-02 -4.27722290e-03 1.22583647e+02] [ 4.28514442e-03 1.50697894e-05 9.99990819e-01 7.97423743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16862385300004 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:167.32, Y:122.59, Z:0.80 [[-5.87943485e-02 -9.98270082e-01 2.62478976e-04 1.67321731e+02] [ 9.98260919e-01 -5.87949334e-02 -4.27712427e-03 1.22594111e+02] [ 4.28515762e-03 1.05517697e-05 9.99990819e-01 7.97150500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.198623853 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:167.32, Y:122.59, Z:0.80 [[-6.18812218e-02 -9.98083486e-01 2.64093594e-04 1.67322477e+02] [ 9.98074322e-01 -6.18817853e-02 -4.27702457e-03 1.22591543e+02] [ 4.28517017e-03 -1.08247160e-06 9.99990819e-01 7.95588172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22862385300004 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:167.32, Y:122.59, Z:0.80 [[-6.36330757e-02 -9.97973327e-01 2.65715874e-04 1.67322306e+02] [ 9.97964162e-01 -6.36336301e-02 -4.27692378e-03 1.22589832e+02] [ 4.28516432e-03 -6.97889466e-06 9.99990819e-01 7.95110161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.258623853 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:167.32, Y:122.59, Z:0.80 [[-6.51086936e-02 -9.97878142e-01 2.67338655e-04 1.67321868e+02] [ 9.97868977e-01 -6.51092414e-02 -4.27682234e-03 1.22589183e+02] [ 4.28515375e-03 -1.16893652e-05 9.99990819e-01 7.95150459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28862385300005 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:167.32, Y:122.60, Z:0.79 [[-6.70605084e-02 -9.97748874e-01 2.68962723e-04 1.67320198e+02] [ 9.97739709e-01 -6.70610453e-02 -4.27672020e-03 1.22604184e+02] [ 4.28512969e-03 -1.84442423e-05 9.99990819e-01 7.94534081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.318623853 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:167.32, Y:122.58, Z:0.79 [[-6.78777990e-02 -9.97693606e-01 2.70598617e-04 1.67321916e+02] [ 9.97684440e-01 -6.78783353e-02 -4.27661669e-03 1.22579006e+02] [ 4.28512091e-03 -2.03152985e-05 9.99990819e-01 7.94448463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.348623853 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:167.32, Y:122.59, Z:0.80 [[-6.86570465e-02 -9.97640284e-01 2.72231489e-04 1.67320760e+02] [ 9.97631118e-01 -6.86575827e-02 -4.27651275e-03 1.22586755e+02] [ 4.28511215e-03 -2.20261303e-05 9.99990819e-01 7.95421912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.378623853 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:167.32, Y:122.58, Z:0.79 [[-6.87510413e-02 -9.97633810e-01 2.73856517e-04 1.67320410e+02] [ 9.97624645e-01 -6.87515836e-02 -4.27640868e-03 1.22583937e+02] [ 4.28511796e-03 -2.08015390e-05 9.99990819e-01 7.94660128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.408623853 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:167.32, Y:122.57, Z:0.80 [[-6.78991087e-02 -9.97692155e-01 2.75487425e-04 1.67320062e+02] [ 9.97682990e-01 -6.78996658e-02 -4.27630362e-03 1.22572036e+02] [ 4.28514007e-03 -1.55080866e-05 9.99990819e-01 7.95570220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.438623853 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:167.32, Y:122.57, Z:0.80 [[-6.76680099e-02 -9.97707855e-01 2.77112373e-04 1.67319311e+02] [ 9.97698691e-01 -6.76685761e-02 -4.27619832e-03 1.22570916e+02] [ 4.28514845e-03 -1.28871779e-05 9.99990819e-01 7.96482622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.468623853 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:167.32, Y:122.57, Z:0.80 [[-6.64611680e-02 -9.97788973e-01 2.78732479e-04 1.67318249e+02] [ 9.97779811e-01 -6.64617523e-02 -4.27609271e-03 1.22573735e+02] [ 4.28516321e-03 -6.08047586e-06 9.99990819e-01 7.95576284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.498623853 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:167.32, Y:122.56, Z:0.79 [[-6.62596729e-02 -9.97802374e-01 2.80356808e-04 1.67318864e+02] [ 9.97793212e-01 -6.62602659e-02 -4.27598621e-03 1.22563624e+02] [ 4.28516571e-03 -3.58732780e-06 9.99990819e-01 7.94920403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.528623853 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:167.32, Y:122.56, Z:0.79 [[-6.61743153e-02 -9.97808038e-01 2.81979769e-04 1.67318312e+02] [ 9.97798876e-01 -6.61749161e-02 -4.27587918e-03 1.22559944e+02] [ 4.28516661e-03 -1.59428095e-06 9.99990819e-01 7.93567575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55862385300003 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:167.32, Y:122.55, Z:0.79 [[-6.66406268e-02 -9.97777002e-01 2.83597610e-04 1.67318187e+02] [ 9.97767841e-01 -6.66412302e-02 -4.27577188e-03 1.22554811e+02] [ 4.28516614e-03 -1.97554319e-06 9.99990819e-01 7.92568201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.588623853 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:167.32, Y:122.55, Z:0.79 [[-6.70172887e-02 -9.97751774e-01 2.85213026e-04 1.67318425e+02] [ 9.97742612e-01 -6.70178956e-02 -4.27566412e-03 1.22552350e+02] [ 4.28516583e-03 -1.97422752e-06 9.99990819e-01 7.92557420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61862385300003 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:167.32, Y:122.57, Z:0.79 [[-6.80485118e-02 -9.97681972e-01 2.86827088e-04 1.67317279e+02] [ 9.97672811e-01 -6.80491161e-02 -4.27555584e-03 1.22570400e+02] [ 4.28516331e-03 -4.78562465e-06 9.99990819e-01 7.93497313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.648623853 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:167.32, Y:122.56, Z:0.80 [[-6.87967154e-02 -9.97630658e-01 2.88452831e-04 1.67317558e+02] [ 9.97621496e-01 -6.87973198e-02 -4.27544615e-03 1.22561443e+02] [ 4.28516094e-03 -6.36990709e-06 9.99990819e-01 7.97277162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67862385300003 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:167.32, Y:122.56, Z:0.80 [[-6.98043840e-02 -9.97560657e-01 2.90086890e-04 1.67318865e+02] [ 9.97551495e-01 -6.98049862e-02 -4.27533528e-03 1.22561761e+02] [ 4.28515578e-03 -9.06053553e-06 9.99990819e-01 7.97556961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.708623853 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:167.32, Y:122.56, Z:0.81 [[-7.04003694e-02 -9.97518773e-01 2.91718473e-04 1.67318259e+02] [ 9.97509612e-01 -7.04009731e-02 -4.27522395e-03 1.22561844e+02] [ 4.28515341e-03 -9.98536490e-06 9.99990819e-01 8.05181628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73862385300004 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:167.32, Y:122.56, Z:0.80 [[-7.07441887e-02 -9.97494448e-01 2.93353791e-04 1.67319898e+02] [ 9.97485287e-01 -7.07447962e-02 -4.27511174e-03 1.22561359e+02] [ 4.28515348e-03 -9.82322068e-06 9.99990819e-01 7.99393276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.768623853 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:167.32, Y:122.54, Z:0.80 [[-7.07381370e-02 -9.97494877e-01 2.94991256e-04 1.67321001e+02] [ 9.97485716e-01 -7.07387517e-02 -4.27499875e-03 1.22542244e+02] [ 4.28515666e-03 -8.15588249e-06 9.99990819e-01 7.97904175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79862385300004 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:167.32, Y:122.54, Z:0.80 [[-7.08056236e-02 -9.97490088e-01 2.96619743e-04 1.67321189e+02] [ 9.97480928e-01 -7.08062446e-02 -4.27488575e-03 1.22538719e+02] [ 4.28515869e-03 -6.81341500e-06 9.99990819e-01 7.97213950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.828623853 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:167.32, Y:122.53, Z:0.80 [[-7.01124903e-02 -9.97539047e-01 2.98238277e-04 1.67321095e+02] [ 9.97529887e-01 -7.01131246e-02 -4.27477283e-03 1.22533904e+02] [ 4.28516323e-03 -2.21337406e-06 9.99990819e-01 7.96596752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85862385300004 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:167.32, Y:122.53, Z:0.80 [[-7.02188939e-02 -9.97531562e-01 2.99854380e-04 1.67321239e+02] [ 9.97522403e-01 -7.02195341e-02 -4.27465947e-03 1.22531648e+02] [ 4.28516337e-03 -1.05039713e-06 9.99990819e-01 7.95900242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.888623853 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:167.32, Y:122.53, Z:0.80 [[-7.05574817e-02 -9.97507670e-01 3.01469374e-04 1.67322000e+02] [ 9.97498511e-01 -7.05581257e-02 -4.27454557e-03 1.22529192e+02] [ 4.28516310e-03 -8.85918970e-07 9.99990819e-01 7.95267072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91862385300004 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:167.32, Y:122.55, Z:0.80 [[-7.16711530e-02 -9.97428270e-01 3.03084324e-04 1.67321582e+02] [ 9.97419111e-01 -7.16717938e-02 -4.27443105e-03 1.22546146e+02] [ 4.28516097e-03 -4.05130531e-06 9.99990819e-01 8.03223421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.948623853 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:167.33, Y:122.52, Z:0.80 [[-7.28265386e-02 -9.97344576e-01 3.04710968e-04 1.67325041e+02] [ 9.97335416e-01 -7.28271757e-02 -4.27431509e-03 1.22522309e+02] [ 4.28515621e-03 -7.38453272e-06 9.99990819e-01 7.96923016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97862385300004 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:167.33, Y:122.53, Z:0.80 [[-7.56106287e-02 -9.97137372e-01 3.06336237e-04 1.67326841e+02] [ 9.97128212e-01 -7.56112472e-02 -4.27419861e-03 1.22534891e+02] [ 4.28512563e-03 -1.77183399e-05 9.99990819e-01 7.96172884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.008623853 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:167.33, Y:122.54, Z:0.80 [[-7.74535484e-02 -9.96995914e-01 3.07957440e-04 1.67328064e+02] [ 9.96986753e-01 -7.74541569e-02 -4.27408180e-03 1.22539830e+02] [ 4.28509467e-03 -2.40133134e-05 9.99990819e-01 7.96215800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03862385300005 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:167.33, Y:122.54, Z:0.80 [[-7.89068424e-02 -9.96881946e-01 3.09591520e-04 1.67329475e+02] [ 9.96872785e-01 -7.89074446e-02 -4.27396343e-03 1.22538029e+02] [ 4.28506606e-03 -2.86215987e-05 9.99990819e-01 7.96261973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.068623853 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:167.33, Y:122.54, Z:0.80 [[-8.07775366e-02 -9.96732107e-01 3.11230443e-04 1.67332755e+02] [ 9.96722945e-01 -8.07781286e-02 -4.27384408e-03 1.22538090e+02] [ 4.28501823e-03 -3.50200735e-05 9.99990819e-01 7.97509683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.098623853 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:167.33, Y:122.56, Z:0.80 [[-8.18367792e-02 -9.96645696e-01 3.12871224e-04 1.67333634e+02] [ 9.96636534e-01 -8.18373685e-02 -4.27372396e-03 1.22556060e+02] [ 4.28499315e-03 -3.79289123e-05 9.99990819e-01 7.97334059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.128623853 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:167.34, Y:122.54, Z:0.80 [[-8.33253558e-02 -9.96522346e-01 3.14525197e-04 1.67339089e+02] [ 9.96513183e-01 -8.33259385e-02 -4.27360223e-03 1.22536998e+02] [ 4.28494823e-03 -4.26709218e-05 9.99990819e-01 7.97654338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.158623853 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:167.34, Y:122.54, Z:0.80 [[-8.41411994e-02 -9.96453792e-01 3.16181622e-04 1.67341137e+02] [ 9.96444629e-01 -8.41417817e-02 -4.27347968e-03 1.22535504e+02] [ 4.28492912e-03 -4.45182266e-05 9.99990819e-01 7.97310613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.188623853 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:167.34, Y:122.54, Z:0.80 [[-8.49815964e-02 -9.96382470e-01 3.17828300e-04 1.67342965e+02] [ 9.96373307e-01 -8.49821780e-02 -4.27335721e-03 1.22541712e+02] [ 4.28490795e-03 -4.64810831e-05 9.99990819e-01 7.98102395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.218623853 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:167.35, Y:122.52, Z:0.80 [[-8.55840364e-02 -9.96330904e-01 3.19480195e-04 1.67349249e+02] [ 9.96321741e-01 -8.55846196e-02 -4.27323371e-03 1.22523817e+02] [ 4.28489740e-03 -4.74155248e-05 9.99990819e-01 8.02177731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.248623853 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:167.35, Y:122.52, Z:0.80 [[-8.56953750e-02 -9.96321334e-01 3.21127888e-04 1.67352919e+02] [ 9.96312171e-01 -8.56959642e-02 -4.27310988e-03 1.22518835e+02] [ 4.28490990e-03 -4.62421309e-05 9.99990819e-01 7.96906898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.278623853 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:167.36, Y:122.52, Z:0.80 [[-8.41758613e-02 -9.96450862e-01 3.22764034e-04 1.67356376e+02] [ 9.96441701e-01 -8.41764715e-02 -4.27298630e-03 1.22524321e+02] [ 4.28499001e-03 -3.80667585e-05 9.99990819e-01 7.96443728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30862385300003 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:167.36, Y:122.50, Z:0.80 [[-8.31875628e-02 -9.96533855e-01 3.24403130e-04 1.67360777e+02] [ 9.96524695e-01 -8.31881891e-02 -4.27286185e-03 1.22495808e+02] [ 4.28503800e-03 -3.21732336e-05 9.99990819e-01 7.96807332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.338623853 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:167.36, Y:122.49, Z:0.80 [[-8.21352755e-02 -9.96621137e-01 3.26030798e-04 1.67363372e+02] [ 9.96611978e-01 -8.21359185e-02 -4.27273765e-03 1.22493778e+02] [ 4.28507950e-03 -2.60162858e-05 9.99990819e-01 7.99325984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36862385300003 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:167.37, Y:122.50, Z:0.80 [[-7.86432585e-02 -9.96902769e-01 3.27643218e-04 1.67366967e+02] [ 9.96893613e-01 -7.86439405e-02 -4.27261401e-03 1.22501636e+02] [ 4.28514789e-03 -9.38685665e-06 9.99990819e-01 7.98953953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.398623853 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:167.37, Y:122.45, Z:0.80 [[-7.66853186e-02 -9.97055291e-01 3.29261423e-04 1.67372235e+02] [ 9.97046137e-01 -7.66860254e-02 -4.27248930e-03 1.22448849e+02] [ 4.28515781e-03 6.51626492e-07 9.99990819e-01 7.96854044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42862385300003 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:167.37, Y:122.46, Z:0.80 [[-7.26501780e-02 -9.97357430e-01 3.30856503e-04 1.67373823e+02] [ 9.97348279e-01 -7.26509287e-02 -4.27236577e-03 1.22459379e+02] [ 4.28511278e-03 1.95910301e-05 9.99990819e-01 7.96746990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.458623853 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:167.38, Y:122.45, Z:0.80 [[-7.10796193e-02 -9.97470590e-01 3.32430357e-04 1.67375977e+02] [ 9.97461441e-01 -7.10803912e-02 -4.27224331e-03 1.22452497e+02] [ 4.28506633e-03 2.79170344e-05 9.99990819e-01 7.97163650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48862385300004 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:167.38, Y:122.44, Z:0.80 [[-6.86167366e-02 -9.97643038e-01 3.34008466e-04 1.67379201e+02] [ 9.97633892e-01 -6.86175378e-02 -4.27211993e-03 1.22442091e+02] [ 4.28496954e-03 4.00792377e-05 9.99990819e-01 7.99662004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.518623853 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:167.38, Y:122.42, Z:0.80 [[-6.80849764e-02 -9.97679469e-01 3.35579970e-04 1.67382243e+02] [ 9.97670324e-01 -6.80857892e-02 -4.27199648e-03 1.22423987e+02] [ 4.28493141e-03 4.39393979e-05 9.99990819e-01 7.99187089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54862385300004 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:167.39, Y:122.42, Z:0.80 [[-6.73402301e-02 -9.97730014e-01 3.37138245e-04 1.67385808e+02] [ 9.97720869e-01 -6.73410565e-02 -4.27187350e-03 1.22415973e+02] [ 4.28487965e-03 4.87009184e-05 9.99990819e-01 8.00570280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.578623853 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:167.39, Y:122.41, Z:0.80 [[-6.75270516e-02 -9.97717386e-01 3.38684715e-04 1.67386836e+02] [ 9.97708243e-01 -6.75278829e-02 -4.27175089e-03 1.22412596e+02] [ 4.28487079e-03 4.94497884e-05 9.99990819e-01 7.99803100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60862385300004 meters Centerline goodness : 0.998502 Centerline is valid? [True, True] Translation: X:167.39, Y:122.42, Z:0.80 [[-6.75266774e-02 -9.97717411e-01 3.40227271e-04 1.67387346e+02] [ 9.97708268e-01 -6.75275152e-02 -4.27162803e-03 1.22424261e+02] [ 4.28485236e-03 5.09987140e-05 9.99990819e-01 8.02292938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.638623853 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:167.39, Y:122.41, Z:0.80 [[-6.76298735e-02 -9.97710421e-01 3.41776821e-04 1.67389252e+02] [ 9.97701278e-01 -6.76307170e-02 -4.27150404e-03 1.22408730e+02] [ 4.28483871e-03 5.21098926e-05 9.99990819e-01 8.01951631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66862385300004 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:167.39, Y:122.41, Z:0.80 [[-6.76929406e-02 -9.97706143e-01 3.43326816e-04 1.67389799e+02] [ 9.97697001e-01 -6.76937902e-02 -4.27137946e-03 1.22410854e+02] [ 4.28482262e-03 5.33938991e-05 9.99990819e-01 8.01732938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.698623853 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:167.39, Y:122.40, Z:0.80 [[-6.73518108e-02 -9.97729229e-01 3.44871902e-04 1.67391467e+02] [ 9.97720088e-01 -6.73526701e-02 -4.27125470e-03 1.22404675e+02] [ 4.28478371e-03 5.64088861e-05 9.99990819e-01 8.00847722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72862385300004 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:167.39, Y:122.39, Z:0.80 [[-6.69033752e-02 -9.97759399e-01 3.46417432e-04 1.67394187e+02] [ 9.97750259e-01 -6.69042452e-02 -4.27112935e-03 1.22386615e+02] [ 4.28473625e-03 5.98851132e-05 9.99990819e-01 8.00856313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.758623853 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:167.39, Y:122.39, Z:0.80 [[-6.68703075e-02 -9.97761615e-01 3.47953013e-04 1.67393709e+02] [ 9.97752476e-01 -6.68711844e-02 -4.27100425e-03 1.22394723e+02] [ 4.28471213e-03 6.15676133e-05 9.99990819e-01 8.01152724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78862385300005 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:167.39, Y:122.38, Z:0.80 [[-6.69934019e-02 -9.97753357e-01 3.49485216e-04 1.67394980e+02] [ 9.97744218e-01 -6.69942843e-02 -4.27087887e-03 1.22379786e+02] [ 4.28469724e-03 6.25761488e-05 9.99990819e-01 7.99919089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.818623853 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:167.39, Y:122.39, Z:0.80 [[-6.72053778e-02 -9.97739101e-01 3.51016412e-04 1.67394369e+02] [ 9.97729963e-01 -6.72062648e-02 -4.27075302e-03 1.22391948e+02] [ 4.28468778e-03 6.32020215e-05 9.99990819e-01 7.99276697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.848623853 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:167.40, Y:122.39, Z:0.80 [[-6.75728893e-02 -9.97714278e-01 3.52548524e-04 1.67395147e+02] [ 9.97705140e-01 -6.75737795e-02 -4.27062654e-03 1.22391487e+02] [ 4.28468811e-03 6.31608999e-05 9.99990819e-01 7.99927472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.878623853 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:167.40, Y:122.39, Z:0.80 [[-6.86554699e-02 -9.97640367e-01 3.54089700e-04 1.67396035e+02] [ 9.97631228e-01 -6.86563567e-02 -4.27049875e-03 1.22385414e+02] [ 4.28473245e-03 6.00578433e-05 9.99990819e-01 7.99072707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.908623853 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:167.40, Y:122.38, Z:0.80 [[-6.94236319e-02 -9.97587206e-01 3.55629633e-04 1.67396793e+02] [ 9.97578067e-01 -6.94245183e-02 -4.27037051e-03 1.22381961e+02] [ 4.28475640e-03 5.83036917e-05 9.99990819e-01 7.98377775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.938623853 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:167.40, Y:122.39, Z:0.81 [[-7.05027297e-02 -9.97511523e-01 3.57167581e-04 1.67395171e+02] [ 9.97502384e-01 -7.05036128e-02 -4.27024187e-03 1.22391102e+02] [ 4.28479708e-03 5.52118047e-05 9.99990819e-01 8.06692619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.968623853 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:167.40, Y:122.38, Z:0.80 [[-7.18932914e-02 -9.97412265e-01 3.58710789e-04 1.67397460e+02] [ 9.97403126e-01 -7.18941684e-02 -4.27011224e-03 1.22383055e+02] [ 4.28485153e-03 5.07868392e-05 9.99990819e-01 7.99738527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.998623853 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:167.40, Y:122.39, Z:0.80 [[-7.27009327e-02 -9.97353721e-01 3.60257108e-04 1.67396648e+02] [ 9.97344582e-01 -7.27018089e-02 -4.26998177e-03 1.22390233e+02] [ 4.28487355e-03 4.88688168e-05 9.99990819e-01 8.02366359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.028623853 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:167.40, Y:122.39, Z:0.80 [[-7.31580053e-02 -9.97320297e-01 3.61805566e-04 1.67397010e+02] [ 9.97311158e-01 -7.31588839e-02 -4.26985057e-03 1.22388571e+02] [ 4.28487793e-03 4.84589778e-05 9.99990819e-01 8.01449586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05862385300003 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:167.40, Y:122.39, Z:0.80 [[-7.37241017e-02 -9.97278609e-01 3.63359357e-04 1.67397079e+02] [ 9.97269470e-01 -7.37249818e-02 -4.26971834e-03 1.22386942e+02] [ 4.28488743e-03 4.75860452e-05 9.99990819e-01 8.01511072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.088623853 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:167.40, Y:122.38, Z:0.80 [[-7.46291644e-02 -9.97211289e-01 3.64914090e-04 1.67396401e+02] [ 9.97202150e-01 -7.46300428e-02 -4.26958545e-03 1.22381509e+02] [ 4.28491237e-03 4.52575199e-05 9.99990819e-01 8.02092539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11862385300003 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:167.40, Y:122.38, Z:0.80 [[-7.53053332e-02 -9.97160455e-01 3.66467784e-04 1.67395472e+02] [ 9.97151316e-01 -7.53062120e-02 -4.26945209e-03 1.22383507e+02] [ 4.28492609e-03 4.39113209e-05 9.99990819e-01 8.00943993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.148623853 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:167.40, Y:122.38, Z:0.80 [[-7.66474946e-02 -9.97058186e-01 3.68022419e-04 1.67395245e+02] [ 9.97049046e-01 -7.66483678e-02 -4.26931808e-03 1.22382922e+02] [ 4.28496686e-03 3.97038676e-05 9.99990819e-01 8.01002161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17862385300003 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:167.39, Y:122.40, Z:0.80 [[-7.76349764e-02 -9.96981782e-01 3.69580210e-04 1.67394160e+02] [ 9.96972642e-01 -7.76358473e-02 -4.26918322e-03 1.22395694e+02] [ 4.28499057e-03 3.70234192e-05 9.99990819e-01 8.00278333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.208623853 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:167.40, Y:122.36, Z:0.80 [[-7.88439300e-02 -9.96886903e-01 3.71147373e-04 1.67396419e+02] [ 9.96877762e-01 -7.88447965e-02 -4.26904698e-03 1.22362706e+02] [ 4.28502006e-03 3.34001212e-05 9.99990819e-01 8.00163487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23862385300004 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:167.39, Y:122.37, Z:0.80 [[-8.07709488e-02 -9.96732620e-01 3.72706288e-04 1.67394533e+02] [ 9.96723478e-01 -8.07718043e-02 -4.26891087e-03 1.22367755e+02] [ 4.28506688e-03 2.66811257e-05 9.99990819e-01 7.98425598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.268623853 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:167.39, Y:122.40, Z:0.80 [[-8.21674321e-02 -9.96618469e-01 3.74252659e-04 1.67391584e+02] [ 9.96609327e-01 -8.21682814e-02 -4.26877530e-03 1.22395301e+02] [ 4.28509200e-03 2.22293861e-05 9.99990819e-01 7.99220800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29862385300004 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:167.39, Y:122.38, Z:0.80 [[-8.46741672e-02 -9.96408623e-01 3.75819671e-04 1.67392554e+02] [ 9.96399480e-01 -8.46750002e-02 -4.26863734e-03 1.22376698e+02] [ 4.28512958e-03 1.30232135e-05 9.99990819e-01 7.99488219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.328623853 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:167.39, Y:122.38, Z:0.80 [[-8.61602584e-02 -9.96281219e-01 3.77394174e-04 1.67391886e+02] [ 9.96272075e-01 -8.61610845e-02 -4.26849813e-03 1.22384225e+02] [ 4.28514121e-03 8.21237501e-06 9.99990819e-01 7.99109406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35862385300004 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:167.39, Y:122.38, Z:0.80 [[-8.79010038e-02 -9.96129143e-01 3.78964845e-04 1.67392677e+02] [ 9.96119998e-01 -8.79018206e-02 -4.26835868e-03 1.22376831e+02] [ 4.28514817e-03 2.30144878e-06 9.99990819e-01 7.99112465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.388623853 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:167.39, Y:122.39, Z:0.80 [[-9.13598313e-02 -9.95817873e-01 3.80538737e-04 1.67392383e+02] [ 9.95808726e-01 -9.13606232e-02 -4.26821835e-03 1.22385491e+02] [ 4.28513438e-03 -1.09999142e-05 9.99990819e-01 7.98712735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41862385300004 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:167.39, Y:122.41, Z:0.80 [[-9.35958009e-02 -9.95610205e-01 3.82115862e-04 1.67391042e+02] [ 9.95601057e-01 -9.35965790e-02 -4.26807716e-03 1.22406950e+02] [ 4.28510591e-03 -1.90391442e-05 9.99990819e-01 7.99093208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.448623853 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:167.39, Y:122.40, Z:0.80 [[-9.55778048e-02 -9.95421888e-01 3.83712655e-04 1.67392704e+02] [ 9.95412739e-01 -9.55785715e-02 -4.26793359e-03 1.22398610e+02] [ 4.28506923e-03 -2.59672586e-05 9.99990819e-01 7.98546873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47862385300004 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:167.39, Y:122.39, Z:0.81 [[-9.84579337e-02 -9.95141139e-01 3.85319828e-04 1.67394522e+02] [ 9.95131988e-01 -9.84586809e-02 -4.26778849e-03 1.22393816e+02] [ 4.28498998e-03 -3.67535501e-05 9.99990819e-01 8.05838820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.508623853 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:167.39, Y:122.39, Z:0.81 [[-9.88312103e-02 -9.95104136e-01 3.86921712e-04 1.67394817e+02] [ 9.95094986e-01 -9.88319608e-02 -4.26764326e-03 1.22391383e+02] [ 4.28498969e-03 -3.67524926e-05 9.99990819e-01 8.05828038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53862385300005 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:167.39, Y:122.42, Z:0.80 [[-9.98779313e-02 -9.94999622e-01 3.88522491e-04 1.67393983e+02] [ 9.94990471e-01 -9.98786791e-02 -4.26749752e-03 1.22415774e+02] [ 4.28496353e-03 -3.96526476e-05 9.99990819e-01 8.02882883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.568623853 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:167.40, Y:122.41, Z:0.80 [[-1.00273039e-01 -9.94959881e-01 3.90138214e-04 1.67398441e+02] [ 9.94950731e-01 -1.00273790e-01 -4.26734980e-03 1.22408164e+02] [ 4.28496249e-03 -3.97318312e-05 9.99990819e-01 7.97139650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.598623853 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:167.40, Y:122.40, Z:0.80 [[-9.99451144e-02 -9.94992875e-01 3.91766735e-04 1.67400132e+02] [ 9.94983725e-01 -9.99458755e-02 -4.26720029e-03 1.22401740e+02] [ 4.28498935e-03 -3.66842956e-05 9.99990819e-01 7.97627050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.628623853 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:167.40, Y:122.39, Z:0.80 [[-9.75871766e-02 -9.95226903e-01 3.93389286e-04 1.67402917e+02] [ 9.95217756e-01 -9.75879663e-02 -4.26705070e-03 1.22389627e+02] [ 4.28507372e-03 -2.49014282e-05 9.99990819e-01 7.99628207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.658623853 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:167.40, Y:122.38, Z:0.80 [[-9.61098927e-02 -9.95370651e-01 3.95003770e-04 1.67404234e+02] [ 9.95361505e-01 -9.61107030e-02 -4.26690124e-03 1.22383325e+02] [ 4.28511236e-03 -1.69198734e-05 9.99990819e-01 8.02000615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.688623853 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:167.41, Y:122.37, Z:0.80 [[-9.41568192e-02 -9.95557299e-01 3.96610024e-04 1.67405557e+02] [ 9.95548156e-01 -9.41576543e-02 -4.26675194e-03 1.22374123e+02] [ 4.28513990e-03 -6.89941298e-06 9.99990819e-01 8.02847753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.718623853 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:167.41, Y:122.32, Z:0.81 [[-8.86039942e-02 -9.96066852e-01 3.98210467e-04 1.67410328e+02] [ 9.96057714e-01 -8.86048871e-02 -4.26660256e-03 1.22320966e+02] [ 4.28510478e-03 1.86025784e-05 9.99990819e-01 8.05963864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.748623853 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:167.41, Y:122.32, Z:0.81 [[-8.57158584e-02 -9.96319543e-01 3.99778188e-04 1.67410060e+02] [ 9.96310409e-01 -8.57167844e-02 -4.26645566e-03 1.22317667e+02] [ 4.28502086e-03 3.26002605e-05 9.99990819e-01 8.06106177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.778623853 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:167.41, Y:122.30, Z:0.81 [[-7.96369895e-02 -9.96823851e-01 4.01317852e-04 1.67409927e+02] [ 9.96814723e-01 -7.96379779e-02 -4.26631083e-03 1.22299530e+02] [ 4.28472053e-03 6.02833925e-05 9.99990819e-01 8.05682712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80862385300003 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:167.41, Y:122.29, Z:0.80 [[-7.68139491e-02 -9.97045363e-01 4.02849066e-04 1.67409948e+02] [ 9.97036238e-01 -7.68149699e-02 -4.26616624e-03 1.22289179e+02] [ 4.28450611e-03 7.39540403e-05 9.99990819e-01 8.04648298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.838623853 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:167.41, Y:122.27, Z:0.80 [[-7.41013956e-02 -9.97250630e-01 4.04367691e-04 1.67410659e+02] [ 9.97241510e-01 -7.41024477e-02 -4.26602230e-03 1.22268639e+02] [ 4.28425806e-03 8.71340402e-05 9.99990819e-01 8.04711292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86862385300003 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:167.41, Y:122.26, Z:0.80 [[-6.86515007e-02 -9.97640620e-01 4.05873003e-04 1.67408286e+02] [ 9.97631506e-01 -6.86526091e-02 -4.26587907e-03 1.22255381e+02] [ 4.28367849e-03 1.12052695e-04 9.99990819e-01 8.03618163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.898623853 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:167.41, Y:122.25, Z:0.80 [[-6.66386985e-02 -9.97777088e-01 4.07364110e-04 1.67406895e+02] [ 9.97767977e-01 -6.66398315e-02 -4.26573668e-03 1.22253561e+02] [ 4.28340100e-03 1.22191724e-04 9.99990819e-01 8.04346121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92862385300003 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:167.40, Y:122.25, Z:0.80 [[-6.41919521e-02 -9.97937486e-01 4.08850207e-04 1.67404371e+02] [ 9.97928379e-01 -6.41931139e-02 -4.26559424e-03 1.22245237e+02] [ 4.28304176e-03 1.34186403e-04 9.99990819e-01 8.02675353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.958623853 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:167.40, Y:122.23, Z:0.80 [[-6.38388703e-02 -9.97960135e-01 4.10333786e-04 1.67403581e+02] [ 9.97951028e-01 -6.38400416e-02 -4.26545152e-03 1.22231446e+02] [ 4.28294630e-03 1.37191418e-04 9.99990819e-01 8.03407101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98862385300004 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:167.40, Y:122.25, Z:0.80 [[-6.43226314e-02 -9.97929070e-01 4.11809068e-04 1.67397901e+02] [ 9.97919964e-01 -6.43238046e-02 -4.26530908e-03 1.22248581e+02] [ 4.28296505e-03 1.36596587e-04 9.99990819e-01 8.04247806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.018623853 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:167.40, Y:122.24, Z:0.80 [[-6.52838123e-02 -9.97866651e-01 4.13288534e-04 1.67397511e+02] [ 9.97857545e-01 -6.52849830e-02 -4.26516572e-03 1.22237422e+02] [ 4.28304817e-03 1.33956803e-04 9.99990819e-01 8.04504626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04862385300004 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:167.40, Y:122.24, Z:0.80 [[-6.68254753e-02 -9.97764593e-01 4.14773979e-04 1.67395360e+02] [ 9.97755486e-01 -6.68266384e-02 -4.26502126e-03 1.22244408e+02] [ 4.28320516e-03 1.28830939e-04 9.99990819e-01 8.02399153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.078623853 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:167.39, Y:122.24, Z:0.80 [[-7.04567538e-02 -9.97514748e-01 4.16259825e-04 1.67392456e+02] [ 9.97505637e-01 -7.04578900e-02 -4.26487624e-03 1.22242055e+02] [ 4.28360574e-03 1.14732187e-04 9.99990819e-01 8.02674271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10862385300004 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:167.39, Y:122.25, Z:0.80 [[-7.27313796e-02 -9.97351479e-01 4.17750581e-04 1.67389324e+02] [ 9.97342366e-01 -7.27325014e-02 -4.26473022e-03 1.22254614e+02] [ 4.28381903e-03 1.06460641e-04 9.99990819e-01 8.02427407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.138623853 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:167.38, Y:122.27, Z:0.80 [[-7.65056364e-02 -9.97069061e-01 4.19248787e-04 1.67384603e+02] [ 9.97059945e-01 -7.65067301e-02 -4.26458293e-03 1.22271066e+02] [ 4.28415905e-03 9.17515415e-05 9.99990819e-01 8.02208461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16862385300004 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:167.38, Y:122.26, Z:0.80 [[-7.83456092e-02 -9.96926170e-01 4.20764742e-04 1.67383744e+02] [ 9.96917053e-01 -7.83466926e-02 -4.26443335e-03 1.22264848e+02] [ 4.28429074e-03 8.53679173e-05 9.99990819e-01 8.02033889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.198623853 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:167.38, Y:122.27, Z:0.80 [[-8.12856315e-02 -9.96690758e-01 4.22288878e-04 1.67380061e+02] [ 9.96681639e-01 -8.12866945e-02 -4.26428242e-03 1.22271089e+02] [ 4.28449734e-03 7.42626813e-05 9.99990819e-01 8.01915309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22862385300004 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:167.38, Y:122.27, Z:0.80 [[-8.27163611e-02 -9.96573040e-01 4.23815565e-04 1.67378684e+02] [ 9.96563920e-01 -8.27174176e-02 -4.26413068e-03 1.22270956e+02] [ 4.28457460e-03 6.96459273e-05 9.99990819e-01 8.03114685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.258623853 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:167.37, Y:122.28, Z:0.81 [[-8.40783136e-02 -9.96459059e-01 4.25347916e-04 1.67374487e+02] [ 9.96449938e-01 -8.40793642e-02 -4.26397782e-03 1.22281750e+02] [ 4.28464231e-03 6.53298400e-05 9.99990819e-01 8.10106778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28862385300005 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:167.37, Y:122.29, Z:0.80 [[-8.67344532e-02 -9.96231375e-01 4.26889339e-04 1.67370445e+02] [ 9.96222252e-01 -8.67354860e-02 -4.26382350e-03 1.22293634e+02] [ 4.28478120e-03 5.54562590e-05 9.99990819e-01 8.02704444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.318623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:167.37, Y:122.30, Z:0.80 [[-8.82626792e-02 -9.96097142e-01 4.28445613e-04 1.67367920e+02] [ 9.96088018e-01 -8.82637047e-02 -4.26366711e-03 1.22297167e+02] [ 4.28484282e-03 5.04468593e-05 9.99990819e-01 8.03013403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.348623853 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:167.37, Y:122.28, Z:0.80 [[-9.06911950e-02 -9.95878970e-01 4.30013491e-04 1.67366446e+02] [ 9.95869844e-01 -9.06922050e-02 -4.26350898e-03 1.22282510e+02] [ 4.28493780e-03 4.15747446e-05 9.99990819e-01 8.03733340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.378623853 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:167.36, Y:122.29, Z:0.80 [[-9.17117331e-02 -9.95785505e-01 4.31577829e-04 1.67364547e+02] [ 9.95776379e-01 -9.17127404e-02 -4.26335062e-03 1.22291185e+02] [ 4.28496393e-03 3.87557342e-05 9.99990819e-01 8.03533962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.408623853 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:167.36, Y:122.32, Z:0.80 [[-9.26852305e-02 -9.95695365e-01 4.33141607e-04 1.67360783e+02] [ 9.95686239e-01 -9.26862355e-02 -4.26319174e-03 1.22315213e+02] [ 4.28498652e-03 3.61382292e-05 9.99990819e-01 8.03280817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.438623853 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:167.36, Y:122.30, Z:0.80 [[-9.35146357e-02 -9.95617810e-01 4.34726517e-04 1.67360376e+02] [ 9.95608684e-01 -9.35156399e-02 -4.26303011e-03 1.22301525e+02] [ 4.28500244e-03 3.41617874e-05 9.99990819e-01 8.02239342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.468623853 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:167.36, Y:122.31, Z:0.80 [[-9.42490884e-02 -9.95548552e-01 4.36320372e-04 1.67355624e+02] [ 9.95539426e-01 -9.42500927e-02 -4.26286698e-03 1.22314571e+02] [ 4.28501428e-03 3.26028058e-05 9.99990819e-01 8.00871635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.498623853 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:167.35, Y:122.30, Z:0.80 [[-9.45101962e-02 -9.95523797e-01 4.37917016e-04 1.67352707e+02] [ 9.95514672e-01 -9.45112050e-02 -4.26270295e-03 1.22303923e+02] [ 4.28501029e-03 3.30839224e-05 9.99990819e-01 7.99684615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.528623853 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:167.35, Y:122.29, Z:0.80 [[-9.46178893e-02 -9.95513567e-01 4.39518278e-04 1.67351660e+02] [ 9.95504442e-01 -9.46189040e-02 -4.26253784e-03 1.22293087e+02] [ 4.28500099e-03 3.42300640e-05 9.99990819e-01 7.99617176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55862385300003 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:167.35, Y:122.30, Z:0.80 [[-9.49028723e-02 -9.95486439e-01 4.41110147e-04 1.67348960e+02] [ 9.95477314e-01 -9.49038912e-02 -4.26237310e-03 1.22296355e+02] [ 4.28499769e-03 3.46036945e-05 9.99990819e-01 7.99816849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.588623853 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:167.35, Y:122.28, Z:0.80 [[-9.50429968e-02 -9.95473070e-01 4.42700916e-04 1.67347845e+02] [ 9.95463946e-01 -9.50440212e-02 -4.26220787e-03 1.22283765e+02] [ 4.28498923e-03 3.55997914e-05 9.99990819e-01 8.00127742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61862385300003 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:167.34, Y:122.29, Z:0.80 [[-9.60969669e-02 -9.95371878e-01 4.44289310e-04 1.67342060e+02] [ 9.95362754e-01 -9.60979884e-02 -4.26204229e-03 1.22291653e+02] [ 4.28501235e-03 3.26596943e-05 9.99990819e-01 8.01434672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.648623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:167.34, Y:122.30, Z:0.80 [[-9.74739658e-02 -9.95237975e-01 4.45878161e-04 1.67338736e+02] [ 9.95228850e-01 -9.74749814e-02 -4.26187607e-03 1.22303640e+02] [ 4.28504287e-03 2.83288474e-05 9.99990819e-01 8.02637891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67862385300003 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:167.33, Y:122.31, Z:0.81 [[-1.00484435e-01 -9.94938530e-01 4.47481216e-04 1.67333981e+02] [ 9.94929403e-01 -1.00485430e-01 -4.26170775e-03 1.22312393e+02] [ 4.28510258e-03 1.69769249e-05 9.99990819e-01 8.05143921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.708623853 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:167.33, Y:122.30, Z:0.80 [[-1.02524392e-01 -9.94730389e-01 4.49100056e-04 1.67334168e+02] [ 9.94721261e-01 -1.02525376e-01 -4.26153715e-03 1.22296803e+02] [ 4.28512466e-03 9.81786719e-06 9.99990819e-01 8.04593045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73862385300004 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:167.33, Y:122.30, Z:0.81 [[-1.06819713e-01 -9.94278304e-01 4.50718294e-04 1.67330137e+02] [ 9.94269172e-01 -1.06820663e-01 -4.26136599e-03 1.22303522e+02] [ 4.28512977e-03 -7.06258551e-06 9.99990819e-01 8.08757974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.768623853 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:167.33, Y:122.31, Z:0.80 [[-1.09810825e-01 -9.93952402e-01 4.52334072e-04 1.67328539e+02] [ 9.93943268e-01 -1.09811755e-01 -4.26119447e-03 1.22310735e+02] [ 4.28509608e-03 -1.83308740e-05 9.99990819e-01 8.04106448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79862385300004 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:167.33, Y:122.31, Z:0.80 [[-1.14989069e-01 -9.93366653e-01 4.53961029e-04 1.67326284e+02] [ 9.93357515e-01 -1.14989959e-01 -4.26102114e-03 1.22313272e+02] [ 4.28495727e-03 -3.90252547e-05 9.99990819e-01 8.02120010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.828623853 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:167.33, Y:122.32, Z:0.80 [[-1.18326484e-01 -9.92974640e-01 4.54979412e-04 1.67325975e+02] [ 9.92965500e-01 -1.18327347e-01 -4.26091239e-03 1.22315114e+02] [ 4.28481446e-03 -5.23999218e-05 9.99990819e-01 8.01400816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85862385300004 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:167.33, Y:122.30, Z:0.80 [[-1.21263178e-01 -9.92620287e-01 4.56619866e-04 1.67327806e+02] [ 9.92611144e-01 -1.21264021e-01 -4.26073659e-03 1.22300644e+02] [ 4.28466513e-03 -6.34244905e-05 9.99990819e-01 8.00451798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.888623853 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:167.33, Y:122.29, Z:0.80 [[-1.26409435e-01 -9.91978047e-01 4.58255593e-04 1.67328375e+02] [ 9.91968900e-01 -1.26410238e-01 -4.26056065e-03 1.22292873e+02] [ 4.28431083e-03 -8.39997675e-05 9.99990819e-01 8.00197112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91862385300004 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:167.33, Y:122.28, Z:0.80 [[-1.28677040e-01 -9.91686446e-01 4.59880971e-04 1.67329883e+02] [ 9.91677299e-01 -1.28677828e-01 -4.26038520e-03 1.22282903e+02] [ 4.28414275e-03 -9.21602358e-05 9.99990819e-01 7.98689760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.948623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:167.33, Y:122.27, Z:0.80 [[-1.31932055e-01 -9.91258654e-01 4.61498769e-04 1.67332500e+02] [ 9.91249505e-01 -1.31932821e-01 -4.26020995e-03 1.22269787e+02] [ 4.28385682e-03 -1.04597826e-04 9.99990819e-01 7.99517367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97862385300004 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:167.33, Y:122.26, Z:0.80 [[-1.33275842e-01 -9.91078875e-01 4.63105912e-04 1.67333728e+02] [ 9.91069725e-01 -1.33276602e-01 -4.26003524e-03 1.22261905e+02] [ 4.28375211e-03 -1.08789533e-04 9.99990819e-01 7.98500405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.008623853 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:167.33, Y:122.27, Z:0.80 [[-1.34135709e-01 -9.90962863e-01 4.64703303e-04 1.67332190e+02] [ 9.90953713e-01 -1.34136468e-01 -4.25986098e-03 1.22271500e+02] [ 4.28369769e-03 -1.10900011e-04 9.99990819e-01 8.04913700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03862385300005 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:167.34, Y:122.26, Z:0.80 [[-1.35559044e-01 -9.90769160e-01 4.66304544e-04 1.67336788e+02] [ 9.90760010e-01 -1.35559797e-01 -4.25968569e-03 1.22257816e+02] [ 4.28357737e-03 -1.15443024e-04 9.99990819e-01 7.96914496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.068623853 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:167.34, Y:122.25, Z:0.80 [[-1.36374726e-01 -9.90657214e-01 4.67905720e-04 1.67338951e+02] [ 9.90648063e-01 -1.36375478e-01 -4.25950981e-03 1.22249597e+02] [ 4.28352498e-03 -1.17359586e-04 9.99990819e-01 7.98900896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.098623853 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:167.34, Y:122.27, Z:0.80 [[-1.36784135e-01 -9.90600767e-01 4.69497214e-04 1.67338907e+02] [ 9.90591617e-01 -1.36784891e-01 -4.25933438e-03 1.22270562e+02] [ 4.28352003e-03 -1.17529365e-04 9.99990819e-01 8.02044450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.128623853 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:167.34, Y:122.26, Z:0.81 [[-1.36994398e-01 -9.90571710e-01 4.71098257e-04 1.67341530e+02] [ 9.90562560e-01 -1.36995158e-01 -4.25915729e-03 1.22257224e+02] [ 4.28353890e-03 -1.16828394e-04 9.99990819e-01 8.06910414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.158623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:167.35, Y:122.25, Z:0.80 [[-1.37275884e-01 -9.90532740e-01 4.72706838e-04 1.67346242e+02] [ 9.90523590e-01 -1.37276648e-01 -4.25897875e-03 1.22250979e+02] [ 4.28354950e-03 -1.16427799e-04 9.99990819e-01 7.99612054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.188623853 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:167.35, Y:122.25, Z:0.80 [[-1.37241002e-01 -9.90537572e-01 4.74305928e-04 1.67347442e+02] [ 9.90528424e-01 -1.37241774e-01 -4.25880066e-03 1.22251472e+02] [ 4.28359666e-03 -1.14668568e-04 9.99990819e-01 7.99826698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.218623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:167.35, Y:122.26, Z:0.80 [[-1.36230128e-01 -9.90677105e-01 4.75904426e-04 1.67350491e+02] [ 9.90667957e-01 -1.36230916e-01 -4.25862203e-03 1.22259658e+02] [ 4.28375224e-03 -1.08689358e-04 9.99990819e-01 7.98730268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.248623853 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:167.35, Y:122.25, Z:0.81 [[-1.35481370e-01 -9.90779779e-01 4.77510438e-04 1.67352592e+02] [ 9.90770633e-01 -1.35482172e-01 -4.25844194e-03 1.22254057e+02] [ 4.28387232e-03 -1.03836230e-04 9.99990819e-01 8.07758556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.278623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:167.36, Y:122.26, Z:0.80 [[-1.35053468e-01 -9.90838196e-01 4.79120342e-04 1.67355091e+02] [ 9.90829051e-01 -1.35054281e-01 -4.25826080e-03 1.22257832e+02] [ 4.28395471e-03 -1.00366535e-04 9.99990819e-01 7.99103369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30862385300003 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:167.36, Y:122.27, Z:0.80 [[-1.33540476e-01 -9.91043244e-01 4.79823749e-04 1.67357576e+02] [ 9.91034100e-01 -1.33541305e-01 -4.25818154e-03 1.22269436e+02] [ 4.28411834e-03 -9.31178925e-05 9.99990819e-01 7.98331192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.338623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:167.36, Y:122.27, Z:0.80 [[-1.33063340e-01 -9.91107419e-01 4.81447674e-04 1.67359239e+02] [ 9.91098276e-01 -1.33064181e-01 -4.25799792e-03 1.22273682e+02] [ 4.28419677e-03 -8.94214670e-05 9.99990819e-01 7.97595183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36862385300003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:167.36, Y:122.27, Z:0.80 [[-1.31436961e-01 -9.91324413e-01 4.83083444e-04 1.67364123e+02] [ 9.91315273e-01 -1.31437824e-01 -4.25781233e-03 1.22266735e+02] [ 4.28436875e-03 -8.07459164e-05 9.99990819e-01 7.98457474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.398623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:167.36, Y:122.26, Z:0.80 [[-1.31817353e-01 -9.91273903e-01 4.84720243e-04 1.67364474e+02] [ 9.91264763e-01 -1.31818220e-01 -4.25762599e-03 1.22264293e+02] [ 4.28436849e-03 -8.07428925e-05 9.99990819e-01 7.98446694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42862385300003 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:167.37, Y:122.27, Z:0.80 [[-1.31391823e-01 -9.91330395e-01 4.86353970e-04 1.67365926e+02] [ 9.91321256e-01 -1.31392701e-01 -4.25743936e-03 1.22267302e+02] [ 4.28443240e-03 -7.72596912e-05 9.99990819e-01 7.97754075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.458623853 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:167.37, Y:122.28, Z:0.80 [[-1.29326681e-01 -9.91601922e-01 4.87990624e-04 1.67369008e+02] [ 9.91592785e-01 -1.29327584e-01 -4.25725175e-03 1.22283748e+02] [ 4.28460967e-03 -6.66882565e-05 9.99990819e-01 7.98198458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48862385300004 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:167.37, Y:122.28, Z:0.80 [[-1.28520123e-01 -9.91706780e-01 4.89641805e-04 1.67371764e+02] [ 9.91697645e-01 -1.28521041e-01 -4.25706184e-03 1.22278160e+02] [ 4.28468636e-03 -6.15414877e-05 9.99990819e-01 7.97728177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.518623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:167.38, Y:122.26, Z:0.80 [[-1.26276152e-01 -9.91995006e-01 4.91302137e-04 1.67376063e+02] [ 9.91985874e-01 -1.26277098e-01 -4.25687021e-03 1.22260127e+02] [ 4.28483420e-03 -5.01764118e-05 9.99990819e-01 7.97387830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54862385300004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:167.38, Y:122.26, Z:0.80 [[-1.25521430e-01 -9.92090786e-01 4.92950675e-04 1.67377597e+02] [ 9.92081655e-01 -1.25522389e-01 -4.25667930e-03 1.22260207e+02] [ 4.28488866e-03 -4.52571491e-05 9.99990819e-01 7.97491324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.578623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:167.38, Y:122.26, Z:0.80 [[-1.24808191e-01 -9.92180765e-01 4.94590853e-04 1.67379828e+02] [ 9.92171636e-01 -1.24809164e-01 -4.25648872e-03 1.22258636e+02] [ 4.28493570e-03 -4.05256395e-05 9.99990819e-01 7.98334097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60862385300004 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:167.39, Y:122.24, Z:0.80 [[-1.23550755e-01 -9.92338130e-01 4.96232616e-04 1.67386286e+02] [ 9.92329003e-01 -1.23551747e-01 -4.25629731e-03 1.22236906e+02] [ 4.28499652e-03 -3.34427282e-05 9.99990819e-01 7.98128554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.638623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:167.39, Y:122.25, Z:0.80 [[-1.23456516e-01 -9.92349858e-01 4.97862845e-04 1.67385927e+02] [ 9.92340732e-01 -1.23457516e-01 -4.25610661e-03 1.22254054e+02] [ 4.28501170e-03 -3.13945141e-05 9.99990819e-01 7.97655193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66862385300004 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:167.39, Y:122.24, Z:0.80 [[-1.23949217e-01 -9.92288437e-01 4.99492455e-04 1.67390652e+02] [ 9.92279311e-01 -1.23950219e-01 -4.25591535e-03 1.22240367e+02] [ 4.28500779e-03 -3.18813449e-05 9.99990819e-01 7.96641872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.698623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:167.39, Y:122.22, Z:0.80 [[-1.24424979e-01 -9.92228892e-01 5.01126873e-04 1.67394646e+02] [ 9.92219766e-01 -1.24425984e-01 -4.25572289e-03 1.22222793e+02] [ 4.28500441e-03 -3.22902429e-05 9.99990819e-01 7.96807700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72862385300004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.39, Y:122.25, Z:0.80 [[-1.24994525e-01 -9.92157304e-01 5.02745044e-04 1.67393179e+02] [ 9.92148178e-01 -1.24995532e-01 -4.25553172e-03 1.22249383e+02] [ 4.28499777e-03 -3.31205876e-05 9.99990819e-01 7.97466174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.758623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.40, Y:122.23, Z:0.80 [[-1.25296269e-01 -9.92119242e-01 5.04371460e-04 1.67398175e+02] [ 9.92110117e-01 -1.25297280e-01 -4.25533895e-03 1.22234196e+02] [ 4.28500003e-03 -3.27860673e-05 9.99990819e-01 7.97219298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78862385300005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.40, Y:122.23, Z:0.80 [[-1.25264797e-01 -9.92123215e-01 5.06007304e-04 1.67400497e+02] [ 9.92114091e-01 -1.25265816e-01 -4.25514442e-03 1.22230015e+02] [ 4.28501298e-03 -3.10028280e-05 9.99990819e-01 7.97394731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.818623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:167.41, Y:122.21, Z:0.80 [[-1.24977998e-01 -9.92159384e-01 5.07633571e-04 1.67406015e+02] [ 9.92150260e-01 -1.24979026e-01 -4.25495040e-03 1.22208690e+02] [ 4.28503252e-03 -2.81264050e-05 9.99990819e-01 7.97282608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.848623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.41, Y:122.21, Z:0.80 [[-1.24806369e-01 -9.92180987e-01 5.09247444e-04 1.67407297e+02] [ 9.92171864e-01 -1.24807405e-01 -4.25475724e-03 1.22210577e+02] [ 4.28504709e-03 -2.57598170e-05 9.99990819e-01 7.97173057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.878623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.41, Y:122.23, Z:0.80 [[-1.24798830e-01 -9.92181935e-01 5.10852522e-04 1.67406504e+02] [ 9.92172813e-01 -1.24799873e-01 -4.25456451e-03 1.22230505e+02] [ 4.28505638e-03 -2.41106885e-05 9.99990819e-01 7.97359634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.908623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:167.41, Y:122.20, Z:0.80 [[-1.24253643e-01 -9.92250356e-01 5.12472654e-04 1.67413739e+02] [ 9.92241236e-01 -1.24254698e-01 -4.25436936e-03 1.22202185e+02] [ 4.28507664e-03 -2.01243927e-05 9.99990819e-01 7.97082174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.938623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.42, Y:122.19, Z:0.80 [[-1.24348610e-01 -9.92238459e-01 5.14090308e-04 1.67417056e+02] [ 9.92229339e-01 -1.24349671e-01 -4.25417387e-03 1.22190571e+02] [ 4.28508189e-03 -1.89051198e-05 9.99990819e-01 7.97666079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.968623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.42, Y:122.19, Z:0.80 [[-1.24475393e-01 -9.92222561e-01 5.15687064e-04 1.67419794e+02] [ 9.92213442e-01 -1.24476459e-01 -4.25398031e-03 1.22189922e+02] [ 4.28508613e-03 -1.78442315e-05 9.99990819e-01 7.96038418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.998623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.42, Y:122.18, Z:0.80 [[-1.24748669e-01 -9.92188239e-01 5.17279326e-04 1.67422030e+02] [ 9.92179121e-01 -1.24749740e-01 -4.25378668e-03 1.22177412e+02] [ 4.28508758e-03 -1.74204782e-05 9.99990819e-01 7.95712439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.028623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:122.18, Z:0.80 [[-1.24995499e-01 -9.92157173e-01 5.18866362e-04 1.67423322e+02] [ 9.92148055e-01 -1.24996575e-01 -4.25359309e-03 1.22177149e+02] [ 4.28508941e-03 -1.68877385e-05 9.99990819e-01 7.95179762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.43, Y:122.19, Z:0.80 [[-1.24977794e-01 -9.92159403e-01 5.20448719e-04 1.67425062e+02] [ 9.92150285e-01 -1.24978877e-01 -4.25339947e-03 1.22193153e+02] [ 4.28509537e-03 -1.52171389e-05 9.99990819e-01 7.97748468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.088623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:167.43, Y:122.19, Z:0.80 [[-1.25039293e-01 -9.92151653e-01 5.22042327e-04 1.67426710e+02] [ 9.92142537e-01 -1.25040382e-01 -4.25320387e-03 1.22192475e+02] [ 4.28509962e-03 -1.38772059e-05 9.99990819e-01 7.98143971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.43, Y:122.15, Z:0.80 [[-1.23864718e-01 -9.92298976e-01 5.23647348e-04 1.67433876e+02] [ 9.92289862e-01 -1.23865825e-01 -4.25300625e-03 1.22148352e+02] [ 4.28511576e-03 -7.18746549e-06 9.99990819e-01 7.97570669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.148623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:167.43, Y:122.18, Z:0.80 [[-1.23265427e-01 -9.92373598e-01 5.25228972e-04 1.67431031e+02] [ 9.92364486e-01 -1.23266546e-01 -4.25281092e-03 1.22176242e+02] [ 4.28512044e-03 -3.00597413e-06 9.99990819e-01 7.97721650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.43, Y:122.16, Z:0.80 [[-1.21715406e-01 -9.92564901e-01 5.26804416e-04 1.67434026e+02] [ 9.92555791e-01 -1.21716545e-01 -4.25261576e-03 1.22162061e+02] [ 4.28511795e-03 5.27392234e-06 9.99990819e-01 7.99206469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.208623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.44, Y:122.15, Z:0.80 [[-1.21180392e-01 -9.92630361e-01 5.28389741e-04 1.67436332e+02] [ 9.92621252e-01 -1.21181544e-01 -4.25241877e-03 1.22148913e+02] [ 4.28511106e-03 9.18111210e-06 9.99990819e-01 7.98612972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.44, Y:122.15, Z:0.80 [[-1.19911391e-01 -9.92784457e-01 5.29962258e-04 1.67438033e+02] [ 9.92775350e-01 -1.19912561e-01 -4.25222278e-03 1.22145925e+02] [ 4.28508982e-03 1.62435191e-05 9.99990819e-01 7.99147250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.268623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.44, Y:122.13, Z:0.80 [[-1.19807223e-01 -9.92797032e-01 5.31528664e-04 1.67441162e+02] [ 9.92787927e-01 -1.19808401e-01 -4.25202697e-03 1.22126597e+02] [ 4.28508136e-03 1.82716940e-05 9.99990819e-01 7.95567911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.44, Y:122.12, Z:0.80 [[-1.19764445e-01 -9.92802193e-01 5.33085050e-04 1.67442131e+02] [ 9.92793088e-01 -1.19765630e-01 -4.25183184e-03 1.22122088e+02] [ 4.28507324e-03 2.00248733e-05 9.99990819e-01 7.97375116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.328623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:167.44, Y:122.13, Z:0.80 [[-1.19516968e-01 -9.92832014e-01 5.34630559e-04 1.67440772e+02] [ 9.92822911e-01 -1.19518161e-01 -4.25163750e-03 1.22128949e+02] [ 4.28505988e-03 2.26506473e-05 9.99990819e-01 8.04188072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.44, Y:122.13, Z:0.80 [[-1.20590003e-01 -9.92702253e-01 5.35984590e-04 1.67440990e+02] [ 9.92693150e-01 -1.20591193e-01 -4.25146679e-03 1.22133742e+02] [ 4.28507569e-03 1.93838351e-05 9.99990819e-01 7.95360674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.388623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.44, Y:122.12, Z:0.80 [[-1.21352783e-01 -9.92609295e-01 5.37542496e-04 1.67443161e+02] [ 9.92600191e-01 -1.21353972e-01 -4.25126981e-03 1.22115930e+02] [ 4.28508284e-03 1.76613610e-05 9.99990819e-01 7.96369441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.44, Y:122.11, Z:0.80 [[-1.21640081e-01 -9.92574128e-01 5.39095393e-04 1.67444471e+02] [ 9.92565025e-01 -1.21641275e-01 -4.25107288e-03 1.22105370e+02] [ 4.28508121e-03 1.79863810e-05 9.99990819e-01 7.97187893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.448623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.44, Y:122.11, Z:0.80 [[-1.21978801e-01 -9.92532559e-01 5.40635768e-04 1.67442922e+02] [ 9.92523456e-01 -1.21979998e-01 -4.25087697e-03 1.22114190e+02] [ 4.28508054e-03 1.80768052e-05 9.99990819e-01 7.98863038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47862385300004 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:167.44, Y:122.11, Z:0.81 [[-1.21802659e-01 -9.92554189e-01 5.42177763e-04 1.67441916e+02] [ 9.92545087e-01 -1.21803864e-01 -4.25068029e-03 1.22114320e+02] [ 4.28506987e-03 2.03917127e-05 9.99990819e-01 8.08467368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.508623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.44, Y:122.11, Z:0.80 [[-1.22665294e-01 -9.92447948e-01 5.43727246e-04 1.67443439e+02] [ 9.92438846e-01 -1.22666498e-01 -4.25048207e-03 1.22106464e+02] [ 4.28507933e-03 1.82294088e-05 9.99990819e-01 8.00578326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53862385300005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.44, Y:122.13, Z:0.80 [[-1.23891704e-01 -9.92295595e-01 5.45274950e-04 1.67440063e+02] [ 9.92286493e-01 -1.23892903e-01 -4.25028352e-03 1.22127384e+02] [ 4.28509331e-03 1.44941018e-05 9.99990819e-01 8.00957172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.568623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.44, Y:122.12, Z:0.80 [[-1.24850714e-01 -9.92175388e-01 5.46832421e-04 1.67440825e+02] [ 9.92166285e-01 -1.24851911e-01 -4.25008313e-03 1.22118468e+02] [ 4.28510095e-03 1.19227796e-05 9.99990819e-01 8.01135175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.598623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.44, Y:122.12, Z:0.80 [[-1.26047854e-01 -9.92024011e-01 5.48399046e-04 1.67440310e+02] [ 9.92014907e-01 -1.26049047e-01 -4.24988097e-03 1.22120592e+02] [ 4.28510914e-03 8.33165233e-06 9.99990819e-01 8.01087107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.628623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.44, Y:122.12, Z:0.80 [[-1.27574330e-01 -9.91828860e-01 5.49965091e-04 1.67440045e+02] [ 9.91819756e-01 -1.27575515e-01 -4.24967830e-03 1.22124117e+02] [ 4.28511567e-03 3.31638200e-06 9.99990819e-01 8.00622187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.658623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.44, Y:122.12, Z:0.80 [[-1.30677478e-01 -9.91424779e-01 5.51536592e-04 1.67442165e+02] [ 9.91415672e-01 -1.30678641e-01 -4.24947434e-03 1.22115280e+02] [ 4.28510821e-03 -8.50856738e-06 9.99990819e-01 7.97989541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.688623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:167.44, Y:122.13, Z:0.80 [[-1.32188022e-01 -9.91224506e-01 5.53107509e-04 1.67440820e+02] [ 9.91215398e-01 -1.32189178e-01 -4.24926986e-03 1.22125854e+02] [ 4.28509525e-03 -1.34538979e-05 9.99990819e-01 8.03841670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.718623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:167.44, Y:122.14, Z:0.80 [[-1.35446912e-01 -9.90784450e-01 5.54682147e-04 1.67440886e+02] [ 9.90775339e-01 -1.35448045e-01 -4.24906430e-03 1.22140646e+02] [ 4.28503745e-03 -2.59572455e-05 9.99990819e-01 8.04263274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.44, Y:122.14, Z:0.80 [[-1.37562405e-01 -9.90492946e-01 5.56273605e-04 1.67442250e+02] [ 9.90483833e-01 -1.37563525e-01 -4.24885595e-03 1.22142210e+02] [ 4.28498480e-03 -3.35028282e-05 9.99990819e-01 7.97577492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.778623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:167.44, Y:122.14, Z:0.80 [[-1.40243442e-01 -9.90116895e-01 5.57876980e-04 1.67443785e+02] [ 9.90107780e-01 -1.40244545e-01 -4.24864541e-03 1.22140082e+02] [ 4.28489481e-03 -4.34863188e-05 9.99990819e-01 7.98564414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.45, Y:122.13, Z:0.80 [[-1.41318661e-01 -9.89964001e-01 5.59482638e-04 1.67446022e+02] [ 9.89954886e-01 -1.41319761e-01 -4.24843396e-03 1.22126170e+02] [ 4.28486263e-03 -4.65204290e-05 9.99990819e-01 7.99171434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.838623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.45, Y:122.13, Z:0.80 [[-1.42669285e-01 -9.89770256e-01 5.61081916e-04 1.67446129e+02] [ 9.89761141e-01 -1.42670379e-01 -4.24822274e-03 1.22129774e+02] [ 4.28481428e-03 -5.07538225e-05 9.99990819e-01 7.99617142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.45, Y:122.12, Z:0.80 [[-1.43866964e-01 -9.89596878e-01 5.62677720e-04 1.67448169e+02] [ 9.89587761e-01 -1.43868054e-01 -4.24801136e-03 1.22122521e+02] [ 4.28477013e-03 -5.43295101e-05 9.99990819e-01 8.00147360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.898623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.45, Y:122.13, Z:0.80 [[-1.45706484e-01 -9.89327702e-01 5.64273969e-04 1.67450111e+02] [ 9.89318585e-01 -1.45707564e-01 -4.24779932e-03 1.22127153e+02] [ 4.28468452e-03 -6.06851807e-05 9.99990819e-01 8.00105970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.45, Y:122.13, Z:0.80 [[-1.46508155e-01 -9.89209301e-01 5.65871188e-04 1.67451511e+02] [ 9.89200183e-01 -1.46509235e-01 -4.24758653e-03 1.22127287e+02] [ 4.28465746e-03 -6.25461855e-05 9.99990819e-01 7.99653857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.958623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.46, Y:122.12, Z:0.80 [[-1.46844976e-01 -9.89159356e-01 5.67473553e-04 1.67455847e+02] [ 9.89150239e-01 -1.46846059e-01 -4.24737245e-03 1.22115294e+02] [ 4.28465945e-03 -6.23887028e-05 9.99990819e-01 7.99517346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.45, Y:122.13, Z:0.80 [[-1.46796616e-01 -9.89166533e-01 5.69071136e-04 1.67454705e+02] [ 9.89157417e-01 -1.46797706e-01 -4.24715839e-03 1.22133494e+02] [ 4.28468528e-03 -6.05675427e-05 9.99990819e-01 7.99525811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.46, Y:122.12, Z:0.80 [[-1.46687865e-01 -9.89182665e-01 5.70675170e-04 1.67456928e+02] [ 9.89173550e-01 -1.46688963e-01 -4.24694285e-03 1.22123966e+02] [ 4.28471400e-03 -5.84781940e-05 9.99990819e-01 8.01506350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.46, Y:122.11, Z:0.80 [[-1.45752811e-01 -9.89320873e-01 5.72286531e-04 1.67460637e+02] [ 9.89311760e-01 -1.45753925e-01 -4.24672570e-03 1.22113634e+02] [ 4.28478739e-03 -5.28024123e-05 9.99990819e-01 8.00959872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.078623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.46, Y:122.11, Z:0.80 [[-1.45565182e-01 -9.89348497e-01 5.73889100e-04 1.67461694e+02] [ 9.89339385e-01 -1.45566305e-01 -4.24650913e-03 1.22114779e+02] [ 4.28481634e-03 -5.03727872e-05 9.99990819e-01 8.00904785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.46, Y:122.10, Z:0.80 [[-1.45327387e-01 -9.89383454e-01 5.75488703e-04 1.67464957e+02] [ 9.89374343e-01 -1.45328519e-01 -4.24629234e-03 1.22098628e+02] [ 4.28484630e-03 -4.77288136e-05 9.99990819e-01 8.00546936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.138623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.47, Y:122.11, Z:0.80 [[-1.44809955e-01 -9.89459319e-01 5.77081969e-04 1.67465916e+02] [ 9.89450209e-01 -1.44811099e-01 -4.24607580e-03 1.22109704e+02] [ 4.28488714e-03 -4.38801717e-05 9.99990819e-01 7.98547191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16862385300004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.47, Y:122.09, Z:0.80 [[-1.44745752e-01 -9.89468712e-01 5.78674632e-04 1.67470212e+02] [ 9.89459603e-01 -1.44746903e-01 -4.24585873e-03 1.22089832e+02] [ 4.28490573e-03 -4.19948452e-05 9.99990819e-01 7.98073869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.198623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.47, Y:122.10, Z:0.80 [[-1.44836493e-01 -9.89455433e-01 5.80264885e-04 1.67472399e+02] [ 9.89446325e-01 -1.44837649e-01 -4.24564139e-03 1.22096901e+02] [ 4.28491714e-03 -4.07828496e-05 9.99990819e-01 8.01632428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.48, Y:122.08, Z:0.80 [[-1.45392193e-01 -9.89373929e-01 5.81849907e-04 1.67476256e+02] [ 9.89364821e-01 -1.45393352e-01 -4.24542415e-03 1.22080089e+02] [ 4.28490908e-03 -4.15897002e-05 9.99990819e-01 8.02879140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.258623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.48, Y:122.06, Z:0.80 [[-1.45721575e-01 -9.89325468e-01 5.83432027e-04 1.67480157e+02] [ 9.89316361e-01 -1.45722737e-01 -4.24520672e-03 1.22063844e+02] [ 4.28491044e-03 -4.14193599e-05 9.99990819e-01 8.03614438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28862385300005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.48, Y:122.08, Z:0.80 [[-1.45095820e-01 -9.89417435e-01 5.84997859e-04 1.67481329e+02] [ 9.89408329e-01 -1.45096994e-01 -4.24499093e-03 1.22082656e+02] [ 4.28494947e-03 -3.71286851e-05 9.99990819e-01 8.03908239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.318623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.48, Y:122.08, Z:0.80 [[-1.45464306e-01 -9.89363326e-01 5.86567114e-04 1.67481735e+02] [ 9.89354221e-01 -1.45465484e-01 -4.24477408e-03 1.22080255e+02] [ 4.28494908e-03 -3.71404667e-05 9.99990819e-01 8.03897460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.348623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.49, Y:122.06, Z:0.80 [[-1.45083749e-01 -9.89419203e-01 5.88147961e-04 1.67486175e+02] [ 9.89410099e-01 -1.45084937e-01 -4.24455503e-03 1.22060739e+02] [ 4.28497567e-03 -3.38964237e-05 9.99990819e-01 8.03303596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.378623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.49, Y:122.05, Z:0.80 [[-1.42380368e-01 -9.89811842e-01 5.89719085e-04 1.67490163e+02] [ 9.89802743e-01 -1.42381588e-01 -4.24433674e-03 1.22048513e+02] [ 4.28505990e-03 -2.06046572e-05 9.99990819e-01 8.01665450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.408623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.49, Y:122.05, Z:0.80 [[-1.40786751e-01 -9.90039767e-01 5.91274870e-04 1.67490722e+02] [ 9.90030671e-01 -1.40787992e-01 -4.24411999e-03 1.22049654e+02] [ 4.28509197e-03 -1.21356091e-05 9.99990819e-01 8.01003681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.438623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.49, Y:122.05, Z:0.80 [[-1.38990461e-01 -9.90293542e-01 5.92826635e-04 1.67490810e+02] [ 9.90284449e-01 -1.38991726e-01 -4.24390323e-03 1.22052960e+02] [ 4.28510796e-03 -2.79507034e-06 9.99990819e-01 8.00759798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.468623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.50, Y:122.03, Z:0.80 [[-1.35486994e-01 -9.90778947e-01 5.94285381e-04 1.67495765e+02] [ 9.90769859e-01 -1.35488296e-01 -4.24369894e-03 1.22025252e+02] [ 4.28508628e-03 1.38340307e-05 9.99990819e-01 8.00699915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.498623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.50, Y:122.02, Z:0.80 [[-1.33759313e-01 -9.91013669e-01 5.95830608e-04 1.67496863e+02] [ 9.91004584e-01 -1.33760638e-01 -4.24348198e-03 1.22023676e+02] [ 4.28504732e-03 2.28656287e-05 9.99990819e-01 8.01098834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.528623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.50, Y:122.01, Z:0.80 [[-1.32258796e-01 -9.91215039e-01 5.97362440e-04 1.67499414e+02] [ 9.91205957e-01 -1.32260141e-01 -4.24326633e-03 1.22012737e+02] [ 4.28499664e-03 3.08999139e-05 9.99990819e-01 8.00059544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55862385300003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:167.50, Y:122.01, Z:0.80 [[-1.29461029e-01 -9.91584330e-01 5.98793410e-04 1.67500514e+02] [ 9.91575253e-01 -1.29462406e-01 -4.24306439e-03 1.22008394e+02] [ 4.28487739e-03 4.44372465e-05 9.99990819e-01 8.01309964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.588623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:167.50, Y:122.00, Z:0.80 [[-1.28655238e-01 -9.91689200e-01 6.00314126e-04 1.67502389e+02] [ 9.91680125e-01 -1.28656629e-01 -4.24284922e-03 1.21996447e+02] [ 4.28482214e-03 4.94548101e-05 9.99990819e-01 8.03267877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.50, Y:121.99, Z:0.80 [[-1.27551689e-01 -9.91831742e-01 6.01828413e-04 1.67504340e+02] [ 9.91822669e-01 -1.27553097e-01 -4.24263442e-03 1.21987196e+02] [ 4.28474456e-03 5.57518770e-05 9.99990819e-01 8.02743084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.648623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.51, Y:121.98, Z:0.80 [[-1.27464247e-01 -9.91842982e-01 6.03333987e-04 1.67505427e+02] [ 9.91833911e-01 -1.27465662e-01 -4.24242030e-03 1.21983061e+02] [ 4.28471917e-03 5.76501977e-05 9.99990819e-01 8.04334703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.50, Y:121.99, Z:0.80 [[-1.27644125e-01 -9.91819848e-01 6.04835328e-04 1.67504581e+02] [ 9.91810778e-01 -1.27645545e-01 -4.24220625e-03 1.21989957e+02] [ 4.28470889e-03 5.83894928e-05 9.99990819e-01 8.04257458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.708623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.51, Y:121.98, Z:0.80 [[-1.27991565e-01 -9.91775071e-01 6.06340282e-04 1.67505411e+02] [ 9.91766001e-01 -1.27992988e-01 -4.24199113e-03 1.21984566e+02] [ 4.28470836e-03 5.84085915e-05 9.99990819e-01 8.03531226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.51, Y:121.98, Z:0.80 [[-1.28201296e-01 -9.91747981e-01 6.07848651e-04 1.67505670e+02] [ 9.91738912e-01 -1.28202723e-01 -4.24177498e-03 1.21982073e+02] [ 4.28469963e-03 5.90261103e-05 9.99990819e-01 8.04358112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.768623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.51, Y:121.97, Z:0.81 [[-1.29065308e-01 -9.91635909e-01 6.09354853e-04 1.67506292e+02] [ 9.91626839e-01 -1.29066734e-01 -4.24155860e-03 1.21975000e+02] [ 4.28472925e-03 5.68145601e-05 9.99990819e-01 8.05979364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.51, Y:121.97, Z:0.81 [[-1.29736544e-01 -9.91548313e-01 6.10859110e-04 1.67507127e+02] [ 9.91539243e-01 -1.29737970e-01 -4.24134195e-03 1.21965554e+02] [ 4.28474707e-03 5.54337330e-05 9.99990819e-01 8.05667372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.828623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.51, Y:121.97, Z:0.81 [[-1.30473117e-01 -9.91451658e-01 6.12357074e-04 1.67505972e+02] [ 9.91442589e-01 -1.30474543e-01 -4.24112566e-03 1.21968336e+02] [ 4.28476808e-03 5.37640000e-05 9.99990819e-01 8.06709152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.51, Y:121.97, Z:0.81 [[-1.30998882e-01 -9.91382326e-01 6.13854037e-04 1.67505349e+02] [ 9.91373257e-01 -1.31000309e-01 -4.24090898e-03 1.21967706e+02] [ 4.28477728e-03 5.30041412e-05 9.99990819e-01 8.05324702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.888623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.50, Y:121.97, Z:0.80 [[-1.31983596e-01 -9.91251710e-01 6.15354842e-04 1.67503830e+02] [ 9.91242640e-01 -1.31985021e-01 -4.24069120e-03 1.21970519e+02] [ 4.28481003e-03 5.02642840e-05 9.99990819e-01 8.04306349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91862385300004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.50, Y:121.97, Z:0.80 [[-1.32810974e-01 -9.91141193e-01 6.16859258e-04 1.67503814e+02] [ 9.91132123e-01 -1.32812398e-01 -4.24047236e-03 1.21968939e+02] [ 4.28483339e-03 4.82077594e-05 9.99990819e-01 8.04103497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.948623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:167.50, Y:121.97, Z:0.80 [[-1.35084795e-01 -9.90833849e-01 6.18366616e-04 1.67504361e+02] [ 9.90824776e-01 -1.35086205e-01 -4.24025254e-03 1.21966152e+02] [ 4.28491854e-03 3.98993188e-05 9.99990819e-01 8.03528915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97862385300004 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:167.50, Y:121.97, Z:0.80 [[-1.36338966e-01 -9.90662052e-01 6.19874365e-04 1.67503874e+02] [ 9.90652979e-01 -1.36340370e-01 -4.24003211e-03 1.21972325e+02] [ 4.28495281e-03 3.59987927e-05 9.99990819e-01 8.02389335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.008623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.50, Y:121.98, Z:0.80 [[-1.38406704e-01 -9.90375282e-01 6.21386229e-04 1.67501658e+02] [ 9.90366207e-01 -1.38408096e-01 -4.23981053e-03 1.21982761e+02] [ 4.28500843e-03 2.85817225e-05 9.99990819e-01 8.03539421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03862385300005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.50, Y:121.98, Z:0.80 [[-1.39218734e-01 -9.90261459e-01 6.22909336e-04 1.67501343e+02] [ 9.90252383e-01 -1.39220125e-01 -4.23958675e-03 1.21981774e+02] [ 4.28502087e-03 2.66075571e-05 9.99990819e-01 8.03843156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.068623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.50, Y:121.98, Z:0.80 [[-1.40280106e-01 -9.90111661e-01 6.24439758e-04 1.67500779e+02] [ 9.90102586e-01 -1.40281494e-01 -4.23936132e-03 1.21984892e+02] [ 4.28503842e-03 2.35613615e-05 9.99990819e-01 8.03680067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.098623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.50, Y:121.98, Z:0.80 [[-1.41835128e-01 -9.89890097e-01 6.25973710e-04 1.67501828e+02] [ 9.89881020e-01 -1.41836508e-01 -4.23913481e-03 1.21983403e+02] [ 4.28506349e-03 1.83812650e-05 9.99990819e-01 8.03260984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.128623853 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:167.50, Y:121.96, Z:0.80 [[-1.42781499e-01 -9.89754035e-01 6.27511434e-04 1.67504985e+02] [ 9.89744958e-01 -1.42782877e-01 -4.23890717e-03 1.21964239e+02] [ 4.28507336e-03 1.58387591e-05 9.99990819e-01 8.02917312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.158623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.50, Y:121.98, Z:0.80 [[-1.43301702e-01 -9.89678850e-01 6.29040644e-04 1.67503261e+02] [ 9.89669773e-01 -1.43303082e-01 -4.23868023e-03 1.21978790e+02] [ 4.28507564e-03 1.51324211e-05 9.99990819e-01 8.02634662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.188623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.50, Y:121.97, Z:0.80 [[-1.43642944e-01 -9.89629379e-01 6.30569773e-04 1.67504857e+02] [ 9.89620302e-01 -1.43644327e-01 -4.23845274e-03 1.21966987e+02] [ 4.28507512e-03 1.52008204e-05 9.99990819e-01 8.01515717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.218623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.50, Y:121.97, Z:0.80 [[-1.43627076e-01 -9.89631681e-01 6.32102426e-04 1.67503518e+02] [ 9.89622605e-01 -1.43628466e-01 -4.23822415e-03 1.21973091e+02] [ 4.28506879e-03 1.68191072e-05 9.99990819e-01 8.00724098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.248623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.50, Y:121.98, Z:0.80 [[-1.43474925e-01 -9.89653750e-01 6.33634511e-04 1.67502224e+02] [ 9.89644676e-01 -1.43476323e-01 -4.23799508e-03 1.21981478e+02] [ 4.28505928e-03 1.90269941e-05 9.99990819e-01 8.00869563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.278623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:167.51, Y:121.96, Z:0.81 [[-1.42362890e-01 -9.89814328e-01 6.35177165e-04 1.67505864e+02] [ 9.89805257e-01 -1.42364305e-01 -4.23776386e-03 1.21959198e+02] [ 4.28502595e-03 2.54013848e-05 9.99990819e-01 8.09280346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.51, Y:121.95, Z:0.80 [[-1.41968526e-01 -9.89870968e-01 6.36714878e-04 1.67506794e+02] [ 9.89861898e-01 -1.41969951e-01 -4.23753281e-03 1.21953125e+02] [ 4.28500508e-03 2.86635109e-05 9.99990819e-01 8.01538871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.338623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.51, Y:121.96, Z:0.80 [[-1.40452239e-01 -9.90087249e-01 6.38239781e-04 1.67506300e+02] [ 9.90078183e-01 -1.40453684e-01 -4.23730313e-03 1.21956195e+02] [ 4.28494292e-03 3.67685703e-05 9.99990819e-01 8.02651933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.51, Y:121.95, Z:0.81 [[-1.39808586e-01 -9.90178343e-01 6.39765782e-04 1.67507808e+02] [ 9.90169278e-01 -1.39810044e-01 -4.23707271e-03 1.21945150e+02] [ 4.28490332e-03 4.10972765e-05 9.99990819e-01 8.05187598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.398623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:167.50, Y:121.96, Z:0.81 [[-1.39015754e-01 -9.90289962e-01 6.41290040e-04 1.67504695e+02] [ 9.90280900e-01 -1.39017225e-01 -4.23684200e-03 1.21961003e+02] [ 4.28485246e-03 4.60694927e-05 9.99990819e-01 8.13803562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.51, Y:121.93, Z:0.81 [[-1.38091640e-01 -9.90419247e-01 6.42819468e-04 1.67509296e+02] [ 9.90410187e-01 -1.38093127e-01 -4.23660994e-03 1.21925928e+02] [ 4.28478898e-03 5.16145335e-05 9.99990819e-01 8.06181332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.458623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:167.51, Y:121.93, Z:0.81 [[-1.38219712e-01 -9.90401381e-01 6.44149068e-04 1.67508577e+02] [ 9.90392322e-01 -1.38221203e-01 -4.23640777e-03 1.21933687e+02] [ 4.28477917e-03 5.24052291e-05 9.99990819e-01 8.06869934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48862385300004 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:167.51, Y:121.92, Z:0.82 [[-1.38287429e-01 -9.90391928e-01 6.45658008e-04 1.67509731e+02] [ 9.90382869e-01 -1.38288926e-01 -4.23617779e-03 1.21922756e+02] [ 4.28476364e-03 5.36384937e-05 9.99990819e-01 8.15632556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.518623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.51, Y:121.92, Z:0.81 [[-1.38404252e-01 -9.90375608e-01 6.47168023e-04 1.67509175e+02] [ 9.90366550e-01 -1.38405754e-01 -4.23594709e-03 1.21923361e+02] [ 4.28475045e-03 5.46604755e-05 9.99990819e-01 8.08280535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54862385300004 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:167.51, Y:121.91, Z:0.81 [[-1.38039809e-01 -9.90426469e-01 6.48674706e-04 1.67511484e+02] [ 9.90417413e-01 -1.38041321e-01 -4.23571635e-03 1.21906614e+02] [ 4.28470950e-03 5.77612509e-05 9.99990819e-01 8.13938116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.578623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.51, Y:121.91, Z:0.81 [[-1.37553714e-01 -9.90494095e-01 6.50175741e-04 1.67510367e+02] [ 9.90485042e-01 -1.37555237e-01 -4.23548593e-03 1.21911633e+02] [ 4.28465888e-03 6.13825250e-05 9.99990819e-01 8.07646462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.51, Y:121.92, Z:0.81 [[-1.35764715e-01 -9.90740893e-01 6.51673232e-04 1.67507912e+02] [ 9.90731843e-01 -1.35766261e-01 -4.23525551e-03 1.21919666e+02] [ 4.28451607e-03 7.06351653e-05 9.99990819e-01 8.05901767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.638623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.51, Y:121.91, Z:0.81 [[-1.34167102e-01 -9.90958507e-01 6.53179668e-04 1.67506701e+02] [ 9.90949460e-01 -1.34168669e-01 -4.23502317e-03 1.21907513e+02] [ 4.28436848e-03 7.90672525e-05 9.99990819e-01 8.06422951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.51, Y:121.90, Z:0.81 [[-1.33874558e-01 -9.90998070e-01 6.54687175e-04 1.67506735e+02] [ 9.90989025e-01 -1.33876134e-01 -4.23479011e-03 1.21897712e+02] [ 4.28431582e-03 8.18571489e-05 9.99990819e-01 8.07540319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.698623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.50, Y:121.91, Z:0.81 [[-1.34064876e-01 -9.90972340e-01 6.56185810e-04 1.67504085e+02] [ 9.90963296e-01 -1.34066457e-01 -4.23455789e-03 1.21905426e+02] [ 4.28430224e-03 8.25505735e-05 9.99990819e-01 8.07432331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.50, Y:121.91, Z:0.81 [[-1.34558453e-01 -9.90905440e-01 6.57685968e-04 1.67502635e+02] [ 9.90896396e-01 -1.34560035e-01 -4.23432488e-03 1.21907727e+02] [ 4.28431380e-03 8.19344513e-05 9.99990819e-01 8.07469709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.758623853 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:167.50, Y:121.90, Z:0.81 [[-1.36414587e-01 -9.90651617e-01 6.59194165e-04 1.67502774e+02] [ 9.90642571e-01 -1.36416159e-01 -4.23409007e-03 1.21895676e+02] [ 4.28443291e-03 7.54341535e-05 9.99990819e-01 8.07225144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78862385300005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.50, Y:121.91, Z:0.81 [[-1.37928892e-01 -9.90441914e-01 6.60699717e-04 1.67499698e+02] [ 9.90432867e-01 -1.37930456e-01 -4.23385513e-03 1.21911371e+02] [ 4.28451819e-03 7.04077685e-05 9.99990819e-01 8.08797990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.818623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.50, Y:121.91, Z:0.81 [[-1.40640963e-01 -9.90060443e-01 6.62209844e-04 1.67497888e+02] [ 9.90051393e-01 -1.40642510e-01 -4.23361892e-03 1.21913767e+02] [ 4.28467347e-03 6.02015356e-05 9.99990819e-01 8.08285882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.848623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.50, Y:121.90, Z:0.81 [[-1.41896545e-01 -9.89881271e-01 6.63731898e-04 1.67498357e+02] [ 9.89872220e-01 -1.41898086e-01 -4.23338028e-03 1.21904938e+02] [ 4.28472614e-03 5.63077317e-05 9.99990819e-01 8.07624169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.878623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.50, Y:121.89, Z:0.81 [[-1.42918381e-01 -9.89734254e-01 6.65253168e-04 1.67499707e+02] [ 9.89725203e-01 -1.42919920e-01 -4.23314121e-03 1.21890499e+02] [ 4.28476278e-03 5.34241376e-05 9.99990819e-01 8.08095424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.908623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.49, Y:121.91, Z:0.81 [[-1.43921829e-01 -9.89588835e-01 6.66765143e-04 1.67493920e+02] [ 9.89579783e-01 -1.43923365e-01 -4.23290304e-03 1.21908949e+02] [ 4.28479667e-03 5.06101577e-05 9.99990819e-01 8.07038943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.938623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.49, Y:121.91, Z:0.81 [[-1.44558938e-01 -9.89495966e-01 6.68281732e-04 1.67492611e+02] [ 9.89486915e-01 -1.44560474e-01 -4.23266359e-03 1.21907288e+02] [ 4.28481067e-03 4.93866776e-05 9.99990819e-01 8.07417733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.968623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.49, Y:121.91, Z:0.81 [[-1.45783920e-01 -9.89316229e-01 6.69810131e-04 1.67489616e+02] [ 9.89307176e-01 -1.45785451e-01 -4.23242171e-03 1.21906031e+02] [ 4.28485206e-03 4.56289423e-05 9.99990819e-01 8.08190800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.998623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.49, Y:121.89, Z:0.81 [[-1.46886572e-01 -9.89153115e-01 6.71340114e-04 1.67490234e+02] [ 9.89144062e-01 -1.46888100e-01 -4.23217902e-03 1.21894365e+02] [ 4.28488493e-03 4.24018192e-05 9.99990819e-01 8.09182902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.028623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.49, Y:121.90, Z:0.81 [[-1.48035798e-01 -9.88981774e-01 6.72865707e-04 1.67487572e+02] [ 9.88972721e-01 -1.48037322e-01 -4.23193645e-03 1.21902381e+02] [ 4.28491726e-03 3.89677381e-05 9.99990819e-01 8.10452728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.49, Y:121.90, Z:0.81 [[-1.50049206e-01 -9.88678300e-01 6.74392397e-04 1.67485501e+02] [ 9.88669244e-01 -1.50050718e-01 -4.23169315e-03 1.21898501e+02] [ 4.28497625e-03 3.17888255e-05 9.99990819e-01 8.11182500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.088623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.48, Y:121.90, Z:0.81 [[-1.51467327e-01 -9.88462034e-01 6.75923568e-04 1.67484469e+02] [ 9.88452977e-01 -1.51468833e-01 -4.23144856e-03 1.21895770e+02] [ 4.28500760e-03 2.71924595e-05 9.99990819e-01 8.11382968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.48, Y:121.91, Z:0.81 [[-1.53122623e-01 -9.88206964e-01 6.77454166e-04 1.67480803e+02] [ 9.88197906e-01 -1.53124120e-01 -4.23120350e-03 1.21909998e+02] [ 4.28503933e-03 2.15658111e-05 9.99990819e-01 8.11504230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.148623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.48, Y:121.92, Z:0.81 [[-1.56659614e-01 -9.87652421e-01 6.78993851e-04 1.67477175e+02] [ 9.87643358e-01 -1.56661085e-01 -4.23095641e-03 1.21922757e+02] [ 4.28508625e-03 7.78377085e-06 9.99990819e-01 8.11257202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.48, Y:121.92, Z:0.81 [[-1.58933959e-01 -9.87288982e-01 6.80551168e-04 1.67477056e+02] [ 9.87279917e-01 -1.58935416e-01 -4.23070590e-03 1.21922351e+02] [ 4.28509300e-03 -5.08334065e-07 9.99990819e-01 8.10767811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.208623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.48, Y:121.92, Z:0.81 [[-1.59299937e-01 -9.87229996e-01 6.82118402e-04 1.67477518e+02] [ 9.87220932e-01 -1.59301397e-01 -4.23045319e-03 1.21919948e+02] [ 4.28509270e-03 -5.09363140e-07 9.99990819e-01 8.10757030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.48, Y:121.92, Z:0.81 [[-1.63687701e-01 -9.86511971e-01 6.83686558e-04 1.67478490e+02] [ 9.86502902e-01 -1.63689128e-01 -4.23019975e-03 1.21915078e+02] [ 4.28505475e-03 -1.79728978e-05 9.99990819e-01 8.08943942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.268623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:167.48, Y:121.92, Z:0.81 [[-1.65959777e-01 -9.86132285e-01 6.85253096e-04 1.67478497e+02] [ 9.86123213e-01 -1.65961189e-01 -4.22994597e-03 1.21918108e+02] [ 4.28501170e-03 -2.62569029e-05 9.99990819e-01 8.08566571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.48, Y:121.92, Z:0.81 [[-1.68313891e-01 -9.85733211e-01 6.86821063e-04 1.67477674e+02] [ 9.85724137e-01 -1.68315289e-01 -4.22969136e-03 1.21923113e+02] [ 4.28494973e-03 -3.48997104e-05 9.99990819e-01 8.08411230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.328623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.47, Y:121.94, Z:0.81 [[-1.71018609e-01 -9.85267558e-01 6.88396279e-04 1.67473812e+02] [ 9.85258482e-01 -1.71019988e-01 -4.22943497e-03 1.21944715e+02] [ 4.28485459e-03 -4.50638117e-05 9.99990819e-01 8.08622134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.47, Y:121.93, Z:0.81 [[-1.71865074e-01 -9.85120257e-01 6.89989435e-04 1.67474888e+02] [ 9.85111180e-01 -1.71866453e-01 -4.22917505e-03 1.21934553e+02] [ 4.28483205e-03 -4.71311762e-05 9.99990819e-01 8.08519021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.388623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:167.47, Y:121.94, Z:0.81 [[-1.72183850e-01 -9.85064589e-01 6.91592442e-04 1.67474467e+02] [ 9.85055512e-01 -1.72185233e-01 -4.22891290e-03 1.21935533e+02] [ 4.28483435e-03 -4.68935574e-05 9.99990819e-01 8.08752803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.47, Y:121.94, Z:0.81 [[-1.72152736e-01 -9.85070026e-01 6.93192453e-04 1.67473386e+02] [ 9.85060950e-01 -1.72154125e-01 -4.22865061e-03 1.21942424e+02] [ 4.28485290e-03 -4.51369543e-05 9.99990819e-01 8.08853352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.448623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.47, Y:121.94, Z:0.81 [[-1.71511029e-01 -9.85181955e-01 6.94799768e-04 1.67473536e+02] [ 9.85172882e-01 -1.71512432e-01 -4.22838650e-03 1.21939265e+02] [ 4.28489688e-03 -4.07170324e-05 9.99990819e-01 8.09004265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.48, Y:121.92, Z:0.81 [[-1.70966539e-01 -9.85276589e-01 6.96412299e-04 1.67477459e+02] [ 9.85267518e-01 -1.70967953e-01 -4.22812090e-03 1.21916610e+02] [ 4.28493273e-03 -3.67147788e-05 9.99990819e-01 8.09430561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.508623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.48, Y:121.90, Z:0.81 [[-1.69499065e-01 -9.85530101e-01 6.98012539e-04 1.67479119e+02] [ 9.85521033e-01 -1.69500500e-01 -4.22785670e-03 1.21903399e+02] [ 4.28499352e-03 -2.87117195e-05 9.99990819e-01 8.09846848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.48, Y:121.91, Z:0.81 [[-1.69152934e-01 -9.85589568e-01 6.99594241e-04 1.67476673e+02] [ 9.85580501e-01 -1.69154379e-01 -4.22759496e-03 1.21914534e+02] [ 4.28501292e-03 -2.56036490e-05 9.99990819e-01 8.09349540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.568623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.48, Y:121.90, Z:0.81 [[-1.67929367e-01 -9.85798781e-01 7.01177636e-04 1.67477513e+02] [ 9.85789717e-01 -1.67930830e-01 -4.22733232e-03 1.21901389e+02] [ 4.28504839e-03 -1.86795375e-05 9.99990819e-01 8.08514423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.598623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.48, Y:121.89, Z:0.81 [[-1.67394516e-01 -9.85889741e-01 7.02762730e-04 1.67479201e+02] [ 9.85880680e-01 -1.67395990e-01 -4.22706880e-03 1.21889210e+02] [ 4.28506343e-03 -1.47479361e-05 9.99990819e-01 8.07831515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.628623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.48, Y:121.90, Z:0.81 [[-1.66923067e-01 -9.85969672e-01 7.04336455e-04 1.67477542e+02] [ 9.85960612e-01 -1.66924553e-01 -4.22680656e-03 1.21896839e+02] [ 4.28507412e-03 -1.11035141e-05 9.99990819e-01 8.08256857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.658623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.48, Y:121.90, Z:0.81 [[-1.66178765e-01 -9.86095391e-01 7.05910082e-04 1.67477143e+02] [ 9.86086333e-01 -1.66180265e-01 -4.22654373e-03 1.21899715e+02] [ 4.28508362e-03 -6.27353617e-06 9.99990819e-01 8.08194943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.688623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.48, Y:121.87, Z:0.81 [[-1.63339102e-01 -9.86569733e-01 7.07492565e-04 1.67480414e+02] [ 9.86560680e-01 -1.63340634e-01 -4.22627882e-03 1.21872513e+02] [ 4.28508105e-03 7.66775898e-06 9.99990819e-01 8.07768170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.718623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.48, Y:121.86, Z:0.81 [[-1.61851343e-01 -9.86814897e-01 7.09063713e-04 1.67480747e+02] [ 9.86805848e-01 -1.61852896e-01 -4.22601521e-03 1.21861925e+02] [ 4.28505877e-03 1.57219810e-05 9.99990819e-01 8.07456994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.748623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.48, Y:121.86, Z:0.81 [[-1.58506192e-01 -9.87357728e-01 7.10616478e-04 1.67478101e+02] [ 9.87348685e-01 -1.58507782e-01 -4.22575409e-03 1.21860010e+02] [ 4.28496920e-03 3.18180561e-05 9.99990819e-01 8.07971558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.778623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.48, Y:121.84, Z:0.81 [[-1.57526388e-01 -9.87514521e-01 7.12165434e-04 1.67480177e+02] [ 9.87505482e-01 -1.57527993e-01 -4.22549303e-03 1.21839240e+02] [ 4.28492172e-03 3.76406181e-05 9.99990819e-01 8.07902922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80862385300003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:167.48, Y:121.84, Z:0.81 [[-1.56271692e-01 -9.87713850e-01 7.13704996e-04 1.67478549e+02] [ 9.87704813e-01 -1.56273315e-01 -4.22523297e-03 1.21842967e+02] [ 4.28485417e-03 4.46455560e-05 9.99990819e-01 8.14823488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.838623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.48, Y:121.83, Z:0.81 [[-1.54948860e-01 -9.87922233e-01 7.15238152e-04 1.67477274e+02] [ 9.87913200e-01 -1.54950502e-01 -4.22497343e-03 1.21832280e+02] [ 4.28477169e-03 5.19383943e-05 9.99990819e-01 8.07717285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.48, Y:121.83, Z:0.81 [[-1.54475667e-01 -9.87996333e-01 7.16770727e-04 1.67476935e+02] [ 9.87987302e-01 -1.54477320e-01 -4.22471341e-03 1.21827604e+02] [ 4.28472618e-03 5.55449570e-05 9.99990819e-01 8.07440202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.898623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.48, Y:121.82, Z:0.81 [[-1.53964647e-01 -9.88076096e-01 7.18297918e-04 1.67476161e+02] [ 9.88067067e-01 -1.53966312e-01 -4.22445373e-03 1.21823155e+02] [ 4.28467543e-03 5.93099867e-05 9.99990819e-01 8.07615058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.47, Y:121.82, Z:0.81 [[-1.53583950e-01 -9.88135341e-01 7.19822864e-04 1.67474283e+02] [ 9.88126314e-01 -1.53585624e-01 -4.22419388e-03 1.21823691e+02] [ 4.28462970e-03 6.25075339e-05 9.99990819e-01 8.06625202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.47, Y:121.82, Z:0.81 [[-1.52880344e-01 -9.88244443e-01 7.21348197e-04 1.67471181e+02] [ 9.88235419e-01 -1.52882031e-01 -4.22393339e-03 1.21819631e+02] [ 4.28455988e-03 6.71054473e-05 9.99990819e-01 8.08364206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.47, Y:121.83, Z:0.81 [[-1.53071494e-01 -9.88214853e-01 7.22874622e-04 1.67468429e+02] [ 9.88205829e-01 -1.53073186e-01 -4.22367214e-03 1.21825422e+02] [ 4.28454826e-03 6.78251118e-05 9.99990819e-01 8.08188690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.018623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.47, Y:121.81, Z:0.81 [[-1.53979092e-01 -9.88073841e-01 7.24405044e-04 1.67468495e+02] [ 9.88064816e-01 -1.53980782e-01 -4.22340964e-03 1.21809477e+02] [ 4.28458504e-03 6.54423550e-05 9.99990819e-01 8.06998492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.47, Y:121.81, Z:0.81 [[-1.55023374e-01 -9.87910536e-01 7.25932728e-04 1.67467177e+02] [ 9.87901511e-01 -1.55025061e-01 -4.22314704e-03 1.21807719e+02] [ 4.28462922e-03 6.24635371e-05 9.99990819e-01 8.07080292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.078623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.46, Y:121.82, Z:0.81 [[-1.56397659e-01 -9.87693902e-01 7.27454099e-04 1.67463567e+02] [ 9.87684876e-01 -1.56399340e-01 -4.22288496e-03 1.21817404e+02] [ 4.28469107e-03 5.80460886e-05 9.99990819e-01 8.06577729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.46, Y:121.84, Z:0.81 [[-1.59533097e-01 -9.87192311e-01 7.28982782e-04 1.67456437e+02] [ 9.87183281e-01 -1.59534756e-01 -4.22262105e-03 1.21839062e+02] [ 4.28483713e-03 4.59917998e-05 9.99990819e-01 8.05869966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.138623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.46, Y:121.82, Z:0.81 [[-1.61535074e-01 -9.86866701e-01 7.30531084e-04 1.67457599e+02] [ 9.86857669e-01 -1.61536721e-01 -4.22235317e-03 1.21824344e+02] [ 4.28490735e-03 3.88720714e-05 9.99990819e-01 8.05675472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.45, Y:121.84, Z:0.81 [[-1.65273737e-01 -9.86247462e-01 7.32086459e-04 1.67452489e+02] [ 9.86238425e-01 -1.65275356e-01 -4.22208348e-03 1.21838914e+02] [ 4.28501497e-03 2.42122832e-05 9.99990819e-01 8.08826749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.45, Y:121.86, Z:0.81 [[-1.67845439e-01 -9.85813050e-01 7.33644475e-04 1.67447839e+02] [ 9.85804010e-01 -1.67847042e-01 -4.22181274e-03 1.21856906e+02] [ 4.28505815e-03 1.46176541e-05 9.99990819e-01 8.05315072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.44, Y:121.87, Z:0.81 [[-1.70399016e-01 -9.85374870e-01 7.35223910e-04 1.67444452e+02] [ 9.85365827e-01 -1.70400602e-01 -4.22153766e-03 1.21868704e+02] [ 4.28507972e-03 5.11865406e-06 9.99990819e-01 8.06262780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.258623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.44, Y:121.87, Z:0.81 [[-1.75478984e-01 -9.84482902e-01 7.36824015e-04 1.67442192e+02] [ 9.84473852e-01 -1.75480530e-01 -4.22125836e-03 1.21874356e+02] [ 4.28505495e-03 -1.53581511e-05 9.99990819e-01 8.06700214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28862385300005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.44, Y:121.86, Z:0.81 [[-1.78222252e-01 -9.83989982e-01 7.38437297e-04 1.67443911e+02] [ 9.83980929e-01 -1.78223780e-01 -4.22097613e-03 1.21864628e+02] [ 4.28500531e-03 -2.56636527e-05 9.99990819e-01 8.06741279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.318623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.44, Y:121.88, Z:0.81 [[-1.83590911e-01 -9.83002457e-01 7.40051010e-04 1.67440468e+02] [ 9.82993397e-01 -1.83592397e-01 -4.22069318e-03 1.21878175e+02] [ 4.28481950e-03 -4.74156516e-05 9.99990819e-01 8.07300635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.348623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.44, Y:121.86, Z:0.81 [[-1.86132376e-01 -9.82524396e-01 7.41669985e-04 1.67443144e+02] [ 9.82515333e-01 -1.86133845e-01 -4.22040867e-03 1.21862425e+02] [ 4.28470437e-03 -5.68525631e-05 9.99990819e-01 8.07623021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.378623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.44, Y:121.86, Z:0.81 [[-1.88711615e-01 -9.82032267e-01 7.43290731e-04 1.67443551e+02] [ 9.82023202e-01 -1.88713067e-01 -4.22012321e-03 1.21861074e+02] [ 4.28456584e-03 -6.64575233e-05 9.99990819e-01 8.07191042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.408623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:167.44, Y:121.88, Z:0.81 [[-1.91158295e-01 -9.81558939e-01 7.44903578e-04 1.67441541e+02] [ 9.81549871e-01 -1.91159732e-01 -4.21983850e-03 1.21875600e+02] [ 4.28441577e-03 -7.54971240e-05 9.99990819e-01 8.07256878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:121.84, Z:0.81 [[-1.94654716e-01 -9.80871543e-01 7.46527082e-04 1.67448436e+02] [ 9.80862471e-01 -1.94656127e-01 -4.21955127e-03 1.21844754e+02] [ 4.28415384e-03 -8.91151554e-05 9.99990819e-01 8.06861439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.468623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.45, Y:121.85, Z:0.81 [[-1.96107239e-01 -9.80582170e-01 7.48143200e-04 1.67448332e+02] [ 9.80573097e-01 -1.96108644e-01 -4.21926471e-03 1.21852540e+02] [ 4.28405309e-03 -9.38192589e-05 9.99990819e-01 8.06353697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.498623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.45, Y:121.86, Z:0.81 [[-1.97811590e-01 -9.80239773e-01 7.49748785e-04 1.67449508e+02] [ 9.80230699e-01 -1.97812986e-01 -4.21897938e-03 1.21855115e+02] [ 4.28392144e-03 -9.96362449e-05 9.99990819e-01 8.06260994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.528623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.45, Y:121.86, Z:0.81 [[-1.98060678e-01 -9.80189473e-01 7.51362522e-04 1.67449958e+02] [ 9.80180400e-01 -1.98062079e-01 -4.21869197e-03 1.21857299e+02] [ 4.28393388e-03 -9.90861764e-05 9.99990819e-01 8.06311593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:121.84, Z:0.80 [[-1.97253821e-01 -9.80352163e-01 7.52982064e-04 1.67453525e+02] [ 9.80343092e-01 -1.97255236e-01 -4.21840288e-03 1.21844292e+02] [ 4.28405004e-03 -9.39153222e-05 9.99990819e-01 8.04698173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.588623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.45, Y:121.86, Z:0.80 [[-1.96459457e-01 -9.80511659e-01 7.54597199e-04 1.67451560e+02] [ 9.80502589e-01 -1.96460886e-01 -4.21811394e-03 1.21858858e+02] [ 4.28415873e-03 -8.88038666e-05 9.99990819e-01 8.03094805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61862385300003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.45, Y:121.87, Z:0.80 [[-1.95650358e-01 -9.80673425e-01 7.56215725e-04 1.67450040e+02] [ 9.80664358e-01 -1.95651802e-01 -4.21782376e-03 1.21871072e+02] [ 4.28426264e-03 -8.36249201e-05 9.99990819e-01 8.02178798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.648623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.45, Y:121.87, Z:0.81 [[-1.94073899e-01 -9.80986619e-01 7.57853495e-04 1.67451655e+02] [ 9.80977556e-01 -1.94075364e-01 -4.21752946e-03 1.21866407e+02] [ 4.28442067e-03 -7.50751162e-05 9.99990819e-01 8.07190115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67862385300003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:167.45, Y:121.86, Z:0.81 [[-1.90305872e-01 -9.81724553e-01 7.59498928e-04 1.67454228e+02] [ 9.81715497e-01 -1.90307379e-01 -4.21723313e-03 1.21861464e+02] [ 4.28469956e-03 -5.69523600e-05 9.99990819e-01 8.10222911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.708623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.46, Y:121.83, Z:0.80 [[-1.88490326e-01 -9.82074752e-01 7.61140627e-04 1.67460247e+02] [ 9.82065699e-01 -1.88491857e-01 -4.21693681e-03 1.21832291e+02] [ 4.28481598e-03 -4.73616941e-05 9.99990819e-01 8.03506767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.46, Y:121.83, Z:0.80 [[-1.86516627e-01 -9.82451508e-01 7.62764104e-04 1.67460997e+02] [ 9.82442460e-01 -1.86518183e-01 -4.21664314e-03 1.21831491e+02] [ 4.28491678e-03 -3.71022116e-05 9.99990819e-01 8.04168898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.46, Y:121.84, Z:0.80 [[-1.84743078e-01 -9.82786554e-01 7.64372147e-04 1.67460524e+02] [ 9.82777510e-01 -1.84744657e-01 -4.21635162e-03 1.21836170e+02] [ 4.28498735e-03 -2.77340214e-05 9.99990819e-01 8.04866328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.47, Y:121.81, Z:0.80 [[-1.81536390e-01 -9.83383929e-01 7.65985415e-04 1.67465204e+02] [ 9.83374892e-01 -1.81538005e-01 -4.21605851e-03 1.21809095e+02] [ 4.28505965e-03 -1.21172165e-05 9.99990819e-01 8.04826522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.828623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.47, Y:121.80, Z:0.80 [[-1.80503980e-01 -9.83573954e-01 7.67587933e-04 1.67466891e+02] [ 9.83564920e-01 -1.80505612e-01 -4.21576673e-03 1.21801073e+02] [ 4.28507229e-03 -5.99011303e-06 9.99990819e-01 8.04319482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.47, Y:121.81, Z:0.80 [[-1.79769794e-01 -9.83708407e-01 7.69172556e-04 1.67466251e+02] [ 9.83699374e-01 -1.79771440e-01 -4.21547760e-03 1.21808749e+02] [ 4.28507601e-03 -1.18097887e-06 9.99990819e-01 8.03177612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.888623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.47, Y:121.81, Z:0.80 [[-1.78734738e-01 -9.83896996e-01 7.70759920e-04 1.67467943e+02] [ 9.83887967e-01 -1.78736400e-01 -4.21518734e-03 1.21812091e+02] [ 4.28507302e-03 4.94100513e-06 9.99990819e-01 8.03140780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.47, Y:121.79, Z:0.80 [[-1.78499871e-01 -9.83939632e-01 7.72355782e-04 1.67472784e+02] [ 9.83930604e-01 -1.78501542e-01 -4.21489491e-03 1.21790550e+02] [ 4.28506885e-03 7.58629198e-06 9.99990819e-01 8.03192897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.948623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.47, Y:121.79, Z:0.80 [[-1.78197540e-01 -9.83994430e-01 7.73943449e-04 1.67473380e+02] [ 9.83985404e-01 -1.78199221e-01 -4.21460336e-03 1.21789810e+02] [ 4.28506235e-03 1.05171045e-05 9.99990819e-01 8.03584620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.48, Y:121.76, Z:0.80 [[-1.76186973e-01 -9.84356414e-01 7.75520935e-04 1.67479565e+02] [ 9.84347392e-01 -1.76188679e-01 -4.21431307e-03 1.21759047e+02] [ 4.28502411e-03 2.08749453e-05 9.99990819e-01 8.04209592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.008623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.48, Y:121.75, Z:0.81 [[-1.75020515e-01 -9.84564480e-01 7.77083095e-04 1.67480469e+02] [ 9.84555462e-01 -1.75022238e-01 -4.21402500e-03 1.21754872e+02] [ 4.28498616e-03 2.75405781e-05 9.99990819e-01 8.06091788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03862385300005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.48, Y:121.77, Z:0.81 [[-1.72850475e-01 -9.84947769e-01 7.78628238e-04 1.67478188e+02] [ 9.84938756e-01 -1.72852225e-01 -4.21373949e-03 1.21767484e+02] [ 4.28490093e-03 3.85542538e-05 9.99990819e-01 8.05259736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.068623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.48, Y:121.75, Z:0.80 [[-1.72339609e-01 -9.85037284e-01 7.80180933e-04 1.67482422e+02] [ 9.85028273e-01 -1.72341370e-01 -4.21345198e-03 1.21750926e+02] [ 4.28486475e-03 4.23556091e-05 9.99990819e-01 8.02202770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:121.74, Z:0.80 [[-1.72377674e-01 -9.85030622e-01 7.81733523e-04 1.67485455e+02] [ 9.85021613e-01 -1.72379441e-01 -4.21316391e-03 1.21740877e+02] [ 4.28485025e-03 4.37690207e-05 9.99990819e-01 8.02179192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:121.74, Z:0.80 [[-1.72736860e-01 -9.84967697e-01 7.83273943e-04 1.67485976e+02] [ 9.84958688e-01 -1.72738630e-01 -4.21287751e-03 1.21738474e+02] [ 4.28484992e-03 4.37732444e-05 9.99990819e-01 8.02168409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.158623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.49, Y:121.73, Z:0.80 [[-1.73044050e-01 -9.84913773e-01 7.84810103e-04 1.67488300e+02] [ 9.84904765e-01 -1.73045824e-01 -4.21259132e-03 1.21731721e+02] [ 4.28484732e-03 4.39993501e-05 9.99990819e-01 8.04795884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.188623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.49, Y:121.72, Z:0.81 [[-1.73982096e-01 -9.84748502e-01 7.86343489e-04 1.67491384e+02] [ 9.84739494e-01 -1.73983868e-01 -4.21230507e-03 1.21720283e+02] [ 4.28487219e-03 4.14778241e-05 9.99990819e-01 8.13869090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:121.73, Z:0.81 [[-1.74885890e-01 -9.84588394e-01 7.87869301e-04 1.67489371e+02] [ 9.84579385e-01 -1.74887660e-01 -4.21201966e-03 1.21734775e+02] [ 4.28489429e-03 3.90970645e-05 9.99990819e-01 8.08336535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.248623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:167.49, Y:121.71, Z:0.82 [[-1.75586090e-01 -9.84463764e-01 7.89399332e-04 1.67494863e+02] [ 9.84454755e-01 -1.75587861e-01 -4.21173289e-03 1.21709527e+02] [ 4.28490735e-03 3.76062149e-05 9.99990819e-01 8.16659406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.49, Y:121.73, Z:0.81 [[-1.76189935e-01 -9.84355871e-01 7.90925903e-04 1.67492733e+02] [ 9.84346863e-01 -1.76191707e-01 -4.21144619e-03 1.21729765e+02] [ 4.28491637e-03 3.65309991e-05 9.99990819e-01 8.07098130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.49, Y:121.72, Z:0.81 [[-1.76467232e-01 -9.84306196e-01 7.92451886e-04 1.67494323e+02] [ 9.84297189e-01 -1.76469007e-01 -4.21115904e-03 1.21723969e+02] [ 4.28491313e-03 3.68765859e-05 9.99990819e-01 8.05961024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.49, Y:121.74, Z:0.80 [[-1.76478905e-01 -9.84304102e-01 7.93987908e-04 1.67491953e+02] [ 9.84295096e-01 -1.76480687e-01 -4.21086941e-03 1.21739889e+02] [ 4.28489956e-03 3.83887807e-05 9.99990819e-01 8.04566818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:167.50, Y:121.72, Z:0.81 [[-1.75734426e-01 -9.84437290e-01 7.95531891e-04 1.67496474e+02] [ 9.84428287e-01 -1.75736221e-01 -4.21057769e-03 1.21716250e+02] [ 4.28485346e-03 4.32006439e-05 9.99990819e-01 8.11223774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.49, Y:121.74, Z:0.80 [[-1.75520666e-01 -9.84475424e-01 7.97074056e-04 1.67491629e+02] [ 9.84466422e-01 -1.75522470e-01 -4.21028574e-03 1.21739588e+02] [ 4.28482724e-03 4.57004860e-05 9.99990819e-01 8.02404708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.50, Y:121.70, Z:0.80 [[-1.74623013e-01 -9.84635042e-01 7.98618816e-04 1.67497862e+02] [ 9.84626043e-01 -1.74624832e-01 -4.20999270e-03 1.21702385e+02] [ 4.28476502e-03 5.11792742e-05 9.99990819e-01 8.00821134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.458623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.50, Y:121.71, Z:0.80 [[-1.74473044e-01 -9.84661625e-01 8.00158794e-04 1.67495838e+02] [ 9.84652628e-01 -1.74474871e-01 -4.20969999e-03 1.21711481e+02] [ 4.28473764e-03 5.33992855e-05 9.99990819e-01 8.00846287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.50, Y:121.70, Z:0.80 [[-1.74609014e-01 -9.84637522e-01 8.01685817e-04 1.67497239e+02] [ 9.84628526e-01 -1.74610846e-01 -4.20940917e-03 1.21700670e+02] [ 4.28472525e-03 5.43619393e-05 9.99990819e-01 8.01289032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.518623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.50, Y:121.70, Z:0.81 [[-1.74951023e-01 -9.84576810e-01 8.03214898e-04 1.67497493e+02] [ 9.84567814e-01 -1.74952858e-01 -4.20911738e-03 1.21696599e+02] [ 4.28472410e-03 5.44301467e-05 9.99990819e-01 8.08967291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:121.71, Z:0.80 [[-1.75527190e-01 -9.84474255e-01 8.04738587e-04 1.67496107e+02] [ 9.84465259e-01 -1.75529027e-01 -4.20882604e-03 1.21705134e+02] [ 4.28473586e-03 5.34737730e-05 9.99990819e-01 8.03918219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.578623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.50, Y:121.70, Z:0.80 [[-1.76387951e-01 -9.84320396e-01 8.05459198e-04 1.67498214e+02] [ 9.84311400e-01 -1.76389783e-01 -4.20868813e-03 1.21696274e+02] [ 4.28477234e-03 5.04607949e-05 9.99990819e-01 8.04444127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.50, Y:121.69, Z:0.80 [[-1.77336555e-01 -9.84149935e-01 8.06989961e-04 1.67499171e+02] [ 9.84140939e-01 -1.77338384e-01 -4.20839460e-03 1.21690057e+02] [ 4.28480157e-03 4.78896582e-05 9.99990819e-01 8.03683789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.50, Y:121.70, Z:0.80 [[-1.79184719e-01 -9.83815116e-01 8.08515319e-04 1.67496813e+02] [ 9.83806117e-01 -1.79186539e-01 -4.20810153e-03 1.21696619e+02] [ 4.28486895e-03 4.13948262e-05 9.99990819e-01 8.04006385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.50, Y:121.70, Z:0.80 [[-1.80446409e-01 -9.83584484e-01 8.10043216e-04 1.67495455e+02] [ 9.83575484e-01 -1.80448223e-01 -4.20780739e-03 1.21702026e+02] [ 4.28490492e-03 3.74549142e-05 9.99990819e-01 8.04530227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.698623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.49, Y:121.71, Z:0.80 [[-1.82322855e-01 -9.83238383e-01 8.11580691e-04 1.67494291e+02] [ 9.83229381e-01 -1.82324658e-01 -4.20751083e-03 1.21706709e+02] [ 4.28495732e-03 3.08445940e-05 9.99990819e-01 8.03686056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.49, Y:121.71, Z:0.80 [[-1.83548747e-01 -9.83010273e-01 8.13126146e-04 1.67493067e+02] [ 9.83001270e-01 -1.83550546e-01 -4.20721214e-03 1.21712062e+02] [ 4.28498250e-03 2.70755156e-05 9.99990819e-01 8.02749184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.758623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.49, Y:121.72, Z:0.80 [[-1.84467778e-01 -9.82838224e-01 8.14679665e-04 1.67492403e+02] [ 9.82829221e-01 -1.84469575e-01 -4.20691130e-03 1.21717072e+02] [ 4.28499684e-03 2.46514023e-05 9.99990819e-01 8.01785266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78862385300005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.50, Y:121.70, Z:0.80 [[-1.85419997e-01 -9.82659024e-01 8.16241334e-04 1.67495704e+02] [ 9.82650021e-01 -1.85421793e-01 -4.20660828e-03 1.21701018e+02] [ 4.28501052e-03 2.20902675e-05 9.99990819e-01 8.02277305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.818623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.49, Y:121.72, Z:0.81 [[-1.86185081e-01 -9.82514349e-01 8.17799621e-04 1.67492253e+02] [ 9.82505346e-01 -1.86186876e-01 -4.20630531e-03 1.21718350e+02] [ 4.28501888e-03 2.03412048e-05 9.99990819e-01 8.08624659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84862385300005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.49, Y:121.71, Z:0.80 [[-1.86576960e-01 -9.82440007e-01 8.19361064e-04 1.67494387e+02] [ 9.82431004e-01 -1.86578758e-01 -4.20600113e-03 1.21708298e+02] [ 4.28501915e-03 2.02228080e-05 9.99990819e-01 8.03591399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.878623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.50, Y:121.70, Z:0.80 [[-1.87250524e-01 -9.82311848e-01 8.20929717e-04 1.67495275e+02] [ 9.82302845e-01 -1.87252323e-01 -4.20569494e-03 1.21703474e+02] [ 4.28502496e-03 1.88830157e-05 9.99990819e-01 8.03718175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.908623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.50, Y:121.69, Z:0.80 [[-1.87698182e-01 -9.82226408e-01 8.22491947e-04 1.67498192e+02] [ 9.82217405e-01 -1.87699984e-01 -4.20538939e-03 1.21687354e+02] [ 4.28502624e-03 1.85219603e-05 9.99990819e-01 8.04391244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.938623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.49, Y:121.70, Z:0.80 [[-1.88139740e-01 -9.82141924e-01 8.24045294e-04 1.67494362e+02] [ 9.82132922e-01 -1.88141544e-01 -4.20508499e-03 1.21702741e+02] [ 4.28502742e-03 1.81784139e-05 9.99990819e-01 8.02376724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.968623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.50, Y:121.68, Z:0.80 [[-1.88101133e-01 -9.82149318e-01 8.25600768e-04 1.67498049e+02] [ 9.82140317e-01 -1.88102944e-01 -4.20477958e-03 1.21677608e+02] [ 4.28501933e-03 1.99319976e-05 9.99990819e-01 8.01506502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.998623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.50, Y:121.69, Z:0.80 [[-1.87920551e-01 -9.82183884e-01 8.27153889e-04 1.67495355e+02] [ 9.82174885e-01 -1.87922370e-01 -4.20447403e-03 1.21687209e+02] [ 4.28500736e-03 2.23027007e-05 9.99990819e-01 8.01277832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.028623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.50, Y:121.68, Z:0.80 [[-1.87704158e-01 -9.82225261e-01 8.28700940e-04 1.67495546e+02] [ 9.82216263e-01 -1.87705985e-01 -4.20416909e-03 1.21679934e+02] [ 4.28499320e-03 2.48235246e-05 9.99990819e-01 8.01439621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05862385300003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.49, Y:121.70, Z:0.80 [[-1.86147713e-01 -9.82521420e-01 8.30252332e-04 1.67489656e+02] [ 9.82512427e-01 -1.86149561e-01 -4.20386269e-03 1.21700308e+02] [ 4.28493625e-03 3.31938096e-05 9.99990819e-01 8.02986079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.088623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.49, Y:121.68, Z:0.80 [[-1.85586788e-01 -9.82627525e-01 8.31813880e-04 1.67491988e+02] [ 9.82618534e-01 -1.85588648e-01 -4.20355369e-03 1.21682258e+02] [ 4.28490277e-03 3.72317108e-05 9.99990819e-01 8.02613426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.49, Y:121.66, Z:0.80 [[-1.84915606e-01 -9.82754051e-01 8.33379851e-04 1.67494693e+02] [ 9.82745063e-01 -1.84917479e-01 -4.20324320e-03 1.21660147e+02] [ 4.28486078e-03 4.17546695e-05 9.99990819e-01 8.02841035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.148623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.49, Y:121.68, Z:0.80 [[-1.82880538e-01 -9.83134788e-01 8.34925951e-04 1.67486375e+02] [ 9.83125806e-01 -1.82882436e-01 -4.20293606e-03 1.21680036e+02] [ 4.28474595e-03 5.22020416e-05 9.99990819e-01 8.03813759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.49, Y:121.66, Z:0.80 [[-1.82247153e-01 -9.83252397e-01 8.36474159e-04 1.67488949e+02] [ 9.83243417e-01 -1.82249064e-01 -4.20262791e-03 1.21657153e+02] [ 4.28469060e-03 5.65407364e-05 9.99990819e-01 8.02829503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.49, Y:121.66, Z:0.80 [[-1.82057708e-01 -9.83287490e-01 8.38023750e-04 1.67485567e+02] [ 9.83278512e-01 -1.82059627e-01 -4.20231889e-03 1.21664113e+02] [ 4.28465789e-03 5.89462007e-05 9.99990819e-01 8.03877452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.48, Y:121.67, Z:0.80 [[-1.81886031e-01 -9.83319260e-01 8.39567791e-04 1.67482547e+02] [ 9.83310284e-01 -1.81887958e-01 -4.20201039e-03 1.21669256e+02] [ 4.28462502e-03 6.12686511e-05 9.99990819e-01 8.04201390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.268623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.48, Y:121.65, Z:0.80 [[-1.81709265e-01 -9.83351939e-01 8.41121623e-04 1.67481475e+02] [ 9.83342964e-01 -1.81711200e-01 -4.20169934e-03 1.21651162e+02] [ 4.28459041e-03 6.36233334e-05 9.99990819e-01 8.02598430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.48, Y:121.65, Z:0.80 [[-1.82070956e-01 -9.83285033e-01 8.42671371e-04 1.67480170e+02] [ 9.83276060e-01 -1.82072895e-01 -4.20138851e-03 1.21646045e+02] [ 4.28459005e-03 6.36277640e-05 9.99990819e-01 8.03271529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.328623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.48, Y:121.65, Z:0.80 [[-1.82403370e-01 -9.83223422e-01 8.44211378e-04 1.67477435e+02] [ 9.83214449e-01 -1.82405313e-01 -4.20107904e-03 1.21649204e+02] [ 4.28458795e-03 6.37498505e-05 9.99990819e-01 8.04014834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.47, Y:121.65, Z:0.80 [[-1.82799732e-01 -9.83149807e-01 8.45753476e-04 1.67473910e+02] [ 9.83140834e-01 -1.82801677e-01 -4.20076856e-03 1.21647433e+02] [ 4.28458996e-03 6.35954106e-05 9.99990819e-01 8.04787016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.388623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.48, Y:121.63, Z:0.80 [[-1.83199047e-01 -9.83075476e-01 8.47299658e-04 1.67475724e+02] [ 9.83066504e-01 -1.83200995e-01 -4.20045667e-03 1.21628135e+02] [ 4.28459208e-03 6.34322548e-05 9.99990819e-01 8.03951179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.47, Y:121.64, Z:0.80 [[-1.84325580e-01 -9.82864874e-01 8.48837125e-04 1.67467566e+02] [ 9.82855901e-01 -1.84327525e-01 -4.20014596e-03 1.21643110e+02] [ 4.28463997e-03 6.00902359e-05 9.99990819e-01 8.04436371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.448623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.46, Y:121.64, Z:0.80 [[-1.85261330e-01 -9.82688921e-01 8.50375462e-04 1.67464814e+02] [ 9.82679948e-01 -1.85263273e-01 -4.19983448e-03 1.21644755e+02] [ 4.28467415e-03 5.75799919e-05 9.99990819e-01 8.04201526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.46, Y:121.65, Z:0.80 [[-1.86563041e-01 -9.82442622e-01 8.51926752e-04 1.67460407e+02] [ 9.82433648e-01 -1.86564978e-01 -4.19951978e-03 1.21653083e+02] [ 4.28472692e-03 5.34863273e-05 9.99990819e-01 8.04579441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.508623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:167.46, Y:121.65, Z:0.81 [[-1.88941452e-01 -9.81987983e-01 8.53486684e-04 1.67456251e+02] [ 9.81979006e-01 -1.88943374e-01 -4.19920272e-03 1.21646616e+02] [ 4.28482727e-03 4.47025458e-05 9.99990819e-01 8.12972275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.45, Y:121.65, Z:0.81 [[-1.90558655e-01 -9.81675439e-01 8.55051031e-04 1.67453591e+02] [ 9.81666460e-01 -1.90560569e-01 -4.19888416e-03 1.21651200e+02] [ 4.28488046e-03 3.92412015e-05 9.99990819e-01 8.05926695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.568623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.45, Y:121.65, Z:0.81 [[-1.91923228e-01 -9.81409568e-01 8.56618046e-04 1.67451947e+02] [ 9.81400588e-01 -1.91925136e-01 -4.19856445e-03 1.21649868e+02] [ 4.28491786e-03 3.48834142e-05 9.99990819e-01 8.05833108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.44, Y:121.66, Z:0.80 [[-1.94464874e-01 -9.80909107e-01 8.58190032e-04 1.67444447e+02] [ 9.80900123e-01 -1.94466766e-01 -4.19824311e-03 1.21657714e+02] [ 4.28498434e-03 2.53878905e-05 9.99990819e-01 8.03998825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:121.64, Z:0.80 [[-1.95664286e-01 -9.80670560e-01 8.59769093e-04 1.67444588e+02] [ 9.80661576e-01 -1.95666174e-01 -4.19791970e-03 1.21641855e+02] [ 4.28500400e-03 2.17595520e-05 9.99990819e-01 8.03186287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.658623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.44, Y:121.65, Z:0.80 [[-1.97417039e-01 -9.80319219e-01 8.61346995e-04 1.67436371e+02] [ 9.80310232e-01 -1.97418918e-01 -4.19759592e-03 1.21649662e+02] [ 4.28503014e-03 1.57103135e-05 9.99990819e-01 8.02611585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.688623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.43, Y:121.65, Z:0.80 [[-1.98466364e-01 -9.80107320e-01 8.62924257e-04 1.67432222e+02] [ 9.80098332e-01 -1.98468239e-01 -4.19727165e-03 1.21653892e+02] [ 4.28503972e-03 1.27333827e-05 9.99990819e-01 8.02892196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.718623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.43, Y:121.66, Z:0.80 [[-1.99671306e-01 -9.79862553e-01 8.64512271e-04 1.67428026e+02] [ 9.79853564e-01 -1.99673178e-01 -4.19694454e-03 1.21656453e+02] [ 4.28504870e-03 9.08603167e-06 9.99990819e-01 8.03765140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.748623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.42, Y:121.64, Z:0.80 [[-2.02572304e-01 -9.79266926e-01 8.66108039e-04 1.67424421e+02] [ 9.79257933e-01 -2.02574155e-01 -4.19661520e-03 1.21642718e+02] [ 4.28505757e-03 -1.97484022e-06 9.99990819e-01 8.03893363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.778623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.42, Y:121.66, Z:0.80 [[-2.04947899e-01 -9.78772500e-01 8.67700789e-04 1.67417877e+02] [ 9.78763504e-01 -2.04949735e-01 -4.19628585e-03 1.21660471e+02] [ 4.28504424e-03 -1.07461022e-05 9.99990819e-01 8.02338372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.41, Y:121.67, Z:0.80 [[-2.07541087e-01 -9.78225915e-01 8.69299986e-04 1.67413734e+02] [ 9.78216917e-01 -2.07542907e-01 -4.19595454e-03 1.21668243e+02] [ 4.28500852e-03 -2.04690137e-05 9.99990819e-01 8.03896947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.41, Y:121.65, Z:0.80 [[-2.10586603e-01 -9.77574818e-01 8.70917799e-04 1.67414561e+02] [ 9.77565815e-01 -2.10588402e-01 -4.19561872e-03 1.21653391e+02] [ 4.28493639e-03 -3.21616272e-05 9.99990819e-01 8.03224477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.41, Y:121.64, Z:0.81 [[-2.17066495e-01 -9.76156430e-01 8.72534936e-04 1.67414954e+02] [ 9.76147416e-01 -2.17068241e-01 -4.19528238e-03 1.21636018e+02] [ 4.28465150e-03 -5.89325212e-05 9.99990819e-01 8.10075847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:121.61, Z:0.80 [[-2.20778605e-01 -9.75323558e-01 8.74135883e-04 1.67419827e+02] [ 9.75314540e-01 -2.20780324e-01 -4.19494878e-03 1.21608202e+02] [ 4.28442438e-03 -7.35975056e-05 9.99990819e-01 8.02908265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.60, Z:0.80 [[-2.27220847e-01 -9.73842862e-01 8.75713703e-04 1.67419509e+02] [ 9.73833833e-01 -2.27222513e-01 -4.19461938e-03 1.21603892e+02] [ 4.28388201e-03 -1.00305336e-04 9.99990819e-01 8.02173055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.958623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.42, Y:121.59, Z:0.80 [[-2.30330879e-01 -9.73111975e-01 8.77276339e-04 1.67422793e+02] [ 9.73102943e-01 -2.30332522e-01 -4.19429254e-03 1.21585545e+02] [ 4.28358157e-03 -1.12394900e-04 9.99990819e-01 8.01301415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.59, Z:0.80 [[-2.33146338e-01 -9.72441264e-01 8.78828819e-04 1.67421429e+02] [ 9.72432228e-01 -2.33147962e-01 -4.19396722e-03 1.21588227e+02] [ 4.28328394e-03 -1.23206636e-04 9.99990819e-01 8.00517893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.59, Z:0.80 [[-2.33505536e-01 -9.72355074e-01 8.80375211e-04 1.67422014e+02] [ 9.72346038e-01 -2.33507163e-01 -4.19364259e-03 1.21585802e+02] [ 4.28328357e-03 -1.23209413e-04 9.99990819e-01 8.00507113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.43, Y:121.56, Z:0.80 [[-2.37364550e-01 -9.71420245e-01 8.81924210e-04 1.67427121e+02] [ 9.71411204e-01 -2.37366148e-01 -4.19331681e-03 1.21558578e+02] [ 4.28281179e-03 -1.38633699e-04 9.99990819e-01 7.99970384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.43, Y:121.55, Z:0.80 [[-2.38835249e-01 -9.71059701e-01 8.83459549e-04 1.67429269e+02] [ 9.71050659e-01 -2.38836840e-01 -4.19299331e-03 1.21549868e+02] [ 4.28264952e-03 -1.43550623e-04 9.99990819e-01 7.99923639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.43, Y:121.55, Z:0.80 [[-2.39600768e-01 -9.70871098e-01 8.84978352e-04 1.67428763e+02] [ 9.70862056e-01 -2.39602358e-01 -4.19267273e-03 1.21554936e+02] [ 4.28258767e-03 -1.45375702e-04 9.99990819e-01 7.99928740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.138623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:167.43, Y:121.56, Z:0.81 [[-2.39512680e-01 -9.70892831e-01 8.86497520e-04 1.67427218e+02] [ 9.70883791e-01 -2.39514278e-01 -4.19235149e-03 1.21560507e+02] [ 4.28265282e-03 -1.43435270e-04 9.99990819e-01 8.09642651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:121.54, Z:0.80 [[-2.38819360e-01 -9.71063605e-01 8.88024497e-04 1.67430511e+02] [ 9.71054566e-01 -2.38820971e-01 -4.19202802e-03 1.21544917e+02] [ 4.28280471e-03 -1.38817206e-04 9.99990819e-01 8.00071407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.198623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.43, Y:121.56, Z:0.80 [[-2.37824429e-01 -9.71307752e-01 8.89548704e-04 1.67427324e+02] [ 9.71298717e-01 -2.37826056e-01 -4.19170456e-03 1.21558074e+02] [ 4.28299299e-03 -1.32872229e-04 9.99990819e-01 8.00676674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.42, Y:121.57, Z:0.81 [[-2.34755951e-01 -9.72053934e-01 8.91074473e-04 1.67423552e+02] [ 9.72044904e-01 -2.34757612e-01 -4.19138019e-03 1.21574128e+02] [ 4.28343411e-03 -1.17787040e-04 9.99990819e-01 8.07681683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.258623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.43, Y:121.56, Z:0.80 [[-2.33346111e-01 -9.72393334e-01 8.92618914e-04 1.67426486e+02] [ 9.72384308e-01 -2.33347793e-01 -4.19105125e-03 1.21562296e+02] [ 4.28364095e-03 -1.09996885e-04 9.99990819e-01 8.00663515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28862385300005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.42, Y:121.57, Z:0.80 [[-2.30181595e-01 -9.73147283e-01 8.94168186e-04 1.67424511e+02] [ 9.73138264e-01 -2.30183312e-01 -4.19072068e-03 1.21570060e+02] [ 4.28401104e-03 -9.44774924e-05 9.99990819e-01 8.01753043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.318623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.57, Z:0.80 [[-2.28916248e-01 -9.73445709e-01 8.95717836e-04 1.67423719e+02] [ 9.73436694e-01 -2.28917984e-01 -4.19038944e-03 1.21571261e+02] [ 4.28416254e-03 -8.73236174e-05 9.99990819e-01 8.01429385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.57, Z:0.80 [[-2.27297307e-01 -9.73824999e-01 8.97275109e-04 1.67422871e+02] [ 9.73815988e-01 -2.27299064e-01 -4.19005596e-03 1.21572325e+02] [ 4.28433103e-03 -7.86075853e-05 9.99990819e-01 8.01649997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.378623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.42, Y:121.59, Z:0.80 [[-2.25785896e-01 -9.74176535e-01 8.98836551e-04 1.67417609e+02] [ 9.74167528e-01 -2.25787674e-01 -4.18972097e-03 1.21591967e+02] [ 4.28447407e-03 -7.03625240e-05 9.99990819e-01 8.02245419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.408623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.42, Y:121.59, Z:0.80 [[-2.21648398e-01 -9.75126236e-01 9.00412401e-04 1.67415577e+02] [ 9.75117238e-01 -2.21650221e-01 -4.18938228e-03 1.21592244e+02] [ 4.28475318e-03 -5.05622164e-05 9.99990819e-01 7.99767613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.438623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.42, Y:121.59, Z:0.80 [[-2.19978990e-01 -9.75504193e-01 9.02003173e-04 1.67415653e+02] [ 9.75495199e-01 -2.19980835e-01 -4.18903975e-03 1.21589258e+02] [ 4.28484925e-03 -4.16009667e-05 9.99990819e-01 8.01001624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.468623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.41, Y:121.60, Z:0.80 [[-2.18555221e-01 -9.75824164e-01 9.03595400e-04 1.67411730e+02] [ 9.75815175e-01 -2.18557086e-01 -4.18869627e-03 1.21603559e+02] [ 4.28491821e-03 -3.37193341e-05 9.99990819e-01 8.01451876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.498623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.41, Y:121.60, Z:0.80 [[-2.17313232e-01 -9.76101501e-01 9.05197530e-04 1.67410977e+02] [ 9.76092515e-01 -2.17315116e-01 -4.18835001e-03 1.21602539e+02] [ 4.28496784e-03 -2.66273458e-05 9.99990819e-01 8.01275047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.528623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.41, Y:121.59, Z:0.80 [[-2.15348584e-01 -9.76536822e-01 9.06810522e-04 1.67411540e+02] [ 9.76527842e-01 -2.15350493e-01 -4.18800076e-03 1.21590751e+02] [ 4.28501904e-03 -1.63543106e-05 9.99990819e-01 8.01461326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.41, Y:121.58, Z:0.80 [[-2.14955335e-01 -9.76623458e-01 9.08418798e-04 1.67413297e+02] [ 9.76614480e-01 -2.14957255e-01 -4.18765188e-03 1.21576907e+02] [ 4.28503027e-03 -1.29831618e-05 9.99990819e-01 8.02402605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.588623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.41, Y:121.59, Z:0.80 [[-2.14847352e-01 -9.76647217e-01 9.10015230e-04 1.67409218e+02] [ 9.76638241e-01 -2.14849279e-01 -4.18730493e-03 1.21587490e+02] [ 4.28503582e-03 -1.08757022e-05 9.99990819e-01 8.02081620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.41, Y:121.57, Z:0.80 [[-2.15649805e-01 -9.76470343e-01 9.11612595e-04 1.67412006e+02] [ 9.76461367e-01 -2.15651731e-01 -4.18695714e-03 1.21573091e+02] [ 4.28503031e-03 -1.27620095e-05 9.99990819e-01 8.02090367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.648623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.41, Y:121.59, Z:0.80 [[-2.17851177e-01 -9.75981573e-01 9.13211139e-04 1.67409292e+02] [ 9.75972594e-01 -2.17853090e-01 -4.18660846e-03 1.21586003e+02] [ 4.28499857e-03 -2.07885354e-05 9.99990819e-01 8.01277651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.41, Y:121.57, Z:0.80 [[-2.19461099e-01 -9.75620822e-01 9.14811152e-04 1.67412193e+02] [ 9.75611841e-01 -2.19463004e-01 -4.18625881e-03 1.21572214e+02] [ 4.28496847e-03 -2.62203668e-05 9.99990819e-01 8.01617230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:121.56, Z:0.80 [[-2.21203518e-01 -9.75227237e-01 9.16413419e-04 1.67413718e+02] [ 9.75218254e-01 -2.21205414e-01 -4.18590803e-03 1.21563416e+02] [ 4.28492713e-03 -3.22344866e-05 9.99990819e-01 8.01381029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.41, Y:121.56, Z:0.80 [[-2.22841602e-01 -9.74854234e-01 9.18004983e-04 1.67414959e+02] [ 9.74845249e-01 -2.22843490e-01 -4.18555896e-03 1.21556851e+02] [ 4.28488130e-03 -3.78038656e-05 9.99990819e-01 8.00817356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.41, Y:121.57, Z:0.80 [[-2.25890312e-01 -9.74152309e-01 9.19590656e-04 1.67411742e+02] [ 9.74143320e-01 -2.25892178e-01 -4.18521055e-03 1.21569684e+02] [ 4.28476085e-03 -4.95854197e-05 9.99990819e-01 8.02094434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.41, Y:121.56, Z:0.80 [[-2.27572796e-01 -9.73760635e-01 9.21182727e-04 1.67414184e+02] [ 9.73751644e-01 -2.27574653e-01 -4.18486009e-03 1.21558950e+02] [ 4.28468986e-03 -5.53571155e-05 9.99990819e-01 8.02758658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.828623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.42, Y:121.53, Z:0.80 [[-2.28949121e-01 -9.73437953e-01 9.22778625e-04 1.67420224e+02] [ 9.73428961e-01 -2.28950973e-01 -4.18450816e-03 1.21531600e+02] [ 4.28463012e-03 -5.97800264e-05 9.99990819e-01 8.02973308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:121.53, Z:0.80 [[-2.30395098e-01 -9.73096729e-01 9.24354823e-04 1.67420585e+02] [ 9.73087736e-01 -2.30396943e-01 -4.18415995e-03 1.21532418e+02] [ 4.28456089e-03 -6.45316003e-05 9.99990819e-01 8.01832361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.42, Y:121.53, Z:0.80 [[-2.30946835e-01 -9.72965931e-01 9.25918610e-04 1.67421769e+02] [ 9.72956937e-01 -2.30948682e-01 -4.18381387e-03 1.21529264e+02] [ 4.28454804e-03 -6.53596359e-05 9.99990819e-01 8.01208885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.42, Y:121.54, Z:0.80 [[-2.30875593e-01 -9.72982837e-01 9.27483801e-04 1.67419273e+02] [ 9.72973845e-01 -2.30877447e-01 -4.18346686e-03 1.21540767e+02] [ 4.28457655e-03 -6.34429137e-05 9.99990819e-01 7.99660226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.948623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.42, Y:121.53, Z:0.80 [[-2.30988041e-01 -9.72956146e-01 9.29056261e-04 1.67421716e+02] [ 9.72947155e-01 -2.30989901e-01 -4.18311763e-03 1.21529510e+02] [ 4.28459262e-03 -6.23274988e-05 9.99990819e-01 7.98668344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.42, Y:121.54, Z:0.80 [[-2.30792412e-01 -9.73002568e-01 9.30631416e-04 1.67419641e+02] [ 9.72993579e-01 -2.30794280e-01 -4.18276717e-03 1.21539607e+02] [ 4.28462760e-03 -5.98525314e-05 9.99990819e-01 7.97698327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.008623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.42, Y:121.54, Z:0.80 [[-2.30750431e-01 -9.73012523e-01 9.32208755e-04 1.67419507e+02] [ 9.73003536e-01 -2.30752307e-01 -4.18241560e-03 1.21540979e+02] [ 4.28465207e-03 -5.80517873e-05 9.99990819e-01 7.97477424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03862385300005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.42, Y:121.52, Z:0.80 [[-2.30640772e-01 -9.73038521e-01 9.33795580e-04 1.67423767e+02] [ 9.73029535e-01 -2.30642655e-01 -4.18206128e-03 1.21521852e+02] [ 4.28467982e-03 -5.59431631e-05 9.99990819e-01 7.97027668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.068623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.42, Y:121.52, Z:0.80 [[-2.30615071e-01 -9.73044611e-01 9.35374214e-04 1.67424153e+02] [ 9.73035627e-01 -2.30616961e-01 -4.18170817e-03 1.21521448e+02] [ 4.28470176e-03 -5.42124911e-05 9.99990819e-01 7.99303166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09862385300005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.42, Y:121.54, Z:0.80 [[-2.30013939e-01 -9.73186883e-01 9.36944225e-04 1.67421871e+02] [ 9.73177902e-01 -2.30015842e-01 -4.18135637e-03 1.21536801e+02] [ 4.28475319e-03 -4.99568321e-05 9.99990819e-01 7.99685935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.128623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:167.42, Y:121.53, Z:0.81 [[-2.30180520e-01 -9.73147495e-01 9.38525443e-04 1.67423588e+02] [ 9.73138515e-01 -2.30182428e-01 -4.18100143e-03 1.21526163e+02] [ 4.28476313e-03 -4.90698278e-05 9.99990819e-01 8.08995112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.158623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.43, Y:121.51, Z:0.80 [[-2.29041053e-01 -9.73416310e-01 9.40112256e-04 1.67428429e+02] [ 9.73407333e-01 -2.29042979e-01 -4.18064459e-03 1.21510701e+02] [ 4.28483375e-03 -4.24270763e-05 9.99990819e-01 8.02634096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:121.53, Z:0.80 [[-2.28584618e-01 -9.73523593e-01 9.41686478e-04 1.67423617e+02] [ 9.73514618e-01 -2.28586555e-01 -4.18028997e-03 1.21534708e+02] [ 4.28486778e-03 -3.88044355e-05 9.99990819e-01 8.02513889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.218623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.54, Z:0.80 [[-2.28085055e-01 -9.73640754e-01 9.43268056e-04 1.67423824e+02] [ 9.73631782e-01 -2.28087003e-01 -4.17993306e-03 1.21535079e+02] [ 4.28490036e-03 -3.49845029e-05 9.99990819e-01 8.02304351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:121.52, Z:0.80 [[-2.27261643e-01 -9.73833278e-01 9.44866829e-04 1.67426854e+02] [ 9.73824309e-01 -2.27263605e-01 -4.17957163e-03 1.21520641e+02] [ 4.28493979e-03 -2.97220282e-05 9.99990819e-01 8.02516876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:121.55, Z:0.80 [[-2.24982026e-01 -9.74362454e-01 9.46460175e-04 1.67419670e+02] [ 9.74353492e-01 -2.24984016e-01 -4.17921079e-03 1.21548240e+02] [ 4.28500449e-03 -1.80605349e-05 9.99990819e-01 8.03322359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.42, Y:121.53, Z:0.80 [[-2.24089220e-01 -9.74568173e-01 9.48064531e-04 1.67423718e+02] [ 9.74559213e-01 -2.24091225e-01 -4.17884681e-03 1.21527070e+02] [ 4.28502404e-03 -1.24894970e-05 9.99990819e-01 8.02808893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.54, Z:0.80 [[-2.21495006e-01 -9.75161043e-01 9.49675734e-04 1.67419712e+02] [ 9.75152091e-01 -2.21497042e-01 -4.17848062e-03 1.21537133e+02] [ 4.28504188e-03 5.65690308e-07 9.99990819e-01 8.03189848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:121.53, Z:0.80 [[-2.20616156e-01 -9.75360245e-01 9.51283295e-04 1.67419980e+02] [ 9.75351296e-01 -2.20618206e-01 -4.17811460e-03 1.21532358e+02] [ 4.28503730e-03 6.07581397e-06 9.99990819e-01 8.03275906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.398623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.42, Y:121.53, Z:0.80 [[-2.18907458e-01 -9.75745160e-01 9.52897188e-04 1.67419071e+02] [ 9.75736216e-01 -2.18909531e-01 -4.17774649e-03 1.21527819e+02] [ 4.28501419e-03 1.52364330e-05 9.99990819e-01 8.02856462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.42, Y:121.54, Z:0.80 [[-2.18369882e-01 -9.75865607e-01 9.54508509e-04 1.67416322e+02] [ 9.75856667e-01 -2.18371967e-01 -4.17737831e-03 1.21535522e+02] [ 4.28499773e-03 1.92498835e-05 9.99990819e-01 8.02132632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.458623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.42, Y:121.52, Z:0.80 [[-2.18079455e-01 -9.75930549e-01 9.56125098e-04 1.67419382e+02] [ 9.75921611e-01 -2.18081549e-01 -4.17700827e-03 1.21517397e+02] [ 4.28498322e-03 2.21834599e-05 9.99990819e-01 8.00662266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.42, Y:121.51, Z:0.80 [[-2.17354058e-01 -9.76092360e-01 9.57738018e-04 1.67418050e+02] [ 9.76083425e-01 -2.17356167e-01 -4.17663842e-03 1.21513394e+02] [ 4.28495512e-03 2.70228941e-05 9.99990819e-01 7.99651652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.50, Z:0.80 [[-2.17373264e-01 -9.76088082e-01 9.59340598e-04 1.67419523e+02] [ 9.76079148e-01 -2.17375379e-01 -4.17627028e-03 1.21499379e+02] [ 4.28494468e-03 2.85828522e-05 9.99990819e-01 8.00842041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.41, Y:121.52, Z:0.80 [[-2.17518115e-01 -9.76055811e-01 9.60936119e-04 1.67413625e+02] [ 9.76046879e-01 -2.17520235e-01 -4.17590313e-03 1.21516600e+02] [ 4.28493757e-03 2.95841224e-05 9.99990819e-01 7.99646591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.578623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.41, Y:121.51, Z:0.80 [[-2.18053257e-01 -9.75936397e-01 9.62536806e-04 1.67412372e+02] [ 9.75927465e-01 -2.18055379e-01 -4.17553414e-03 1.21513152e+02] [ 4.28494208e-03 2.88772863e-05 9.99990819e-01 8.00592418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.41, Y:121.50, Z:0.80 [[-2.19263500e-01 -9.75665203e-01 9.64149155e-04 1.67411407e+02] [ 9.75656270e-01 -2.19265618e-01 -4.17516181e-03 1.21502214e+02] [ 4.28496486e-03 2.52175756e-05 9.99990819e-01 8.00454523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.41, Y:121.51, Z:0.80 [[-2.20561353e-01 -9.75372625e-01 9.65755977e-04 1.67408443e+02] [ 9.75363690e-01 -2.20563466e-01 -4.17479011e-03 1.21510576e+02] [ 4.28498647e-03 2.11659612e-05 9.99990819e-01 8.00303059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.41, Y:121.50, Z:0.80 [[-2.22300980e-01 -9.74977609e-01 9.67365072e-04 1.67409381e+02] [ 9.74968673e-01 -2.22303084e-01 -4.17441722e-03 1.21502290e+02] [ 4.28501156e-03 1.51736005e-05 9.99990819e-01 8.00817917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.698623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.41, Y:121.49, Z:0.80 [[-2.26695464e-01 -9.73965209e-01 9.68976989e-04 1.67409200e+02] [ 9.73956265e-01 -2.26697535e-01 -4.17404302e-03 1.21493092e+02] [ 4.28503738e-03 -2.49541025e-06 9.99990819e-01 8.00438588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72862385300004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:167.41, Y:121.49, Z:0.80 [[-2.29460162e-01 -9.73317570e-01 9.70581511e-04 1.67408165e+02] [ 9.73308622e-01 -2.29462214e-01 -4.17366989e-03 1.21494551e+02] [ 4.28501802e-03 -1.30156173e-05 9.99990819e-01 7.99280550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.758623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.41, Y:121.47, Z:0.80 [[-2.35568731e-01 -9.71857205e-01 9.72184812e-04 1.67411812e+02] [ 9.71848246e-01 -2.35570734e-01 -4.17329640e-03 1.21474873e+02] [ 4.28486647e-03 -3.82820346e-05 9.99990819e-01 8.03024448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.45, Z:0.80 [[-2.38684104e-01 -9.71096777e-01 9.73780261e-04 1.67418485e+02] [ 9.71087812e-01 -2.38686085e-01 -4.17292409e-03 1.21449197e+02] [ 4.28474093e-03 -5.03845044e-05 9.99990819e-01 7.99584097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.818623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.45, Z:0.80 [[-2.41534206e-01 -9.70391816e-01 9.75351571e-04 1.67418731e+02] [ 9.70382847e-01 -2.41536167e-01 -4.17255679e-03 1.21451079e+02] [ 4.28459764e-03 -6.13507560e-05 9.99990819e-01 7.99434085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.42, Y:121.44, Z:0.80 [[-2.44173827e-01 -9.69730987e-01 9.76911523e-04 1.67421160e+02] [ 9.69722015e-01 -2.44175771e-01 -4.17219153e-03 1.21442845e+02] [ 4.28444154e-03 -7.14073638e-05 9.99990819e-01 7.98907356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.878623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.43, Y:121.42, Z:0.80 [[-2.48457270e-01 -9.68642363e-01 9.78470829e-04 1.67428214e+02] [ 9.68633383e-01 -2.48459181e-01 -4.17182581e-03 1.21420396e+02] [ 4.28411727e-03 -8.87409429e-05 9.99990819e-01 8.00254836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.908623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.43, Y:121.42, Z:0.80 [[-2.48813181e-01 -9.68551001e-01 9.80014978e-04 1.67428859e+02] [ 9.68542022e-01 -2.48815095e-01 -4.17146304e-03 1.21417974e+02] [ 4.28411722e-03 -8.87292976e-05 9.99990819e-01 8.00244055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.938623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.43, Y:121.41, Z:0.80 [[-2.50844737e-01 -9.68026836e-01 9.81547661e-04 1.67431456e+02] [ 9.68017854e-01 -2.50846639e-01 -4.17110236e-03 1.21410244e+02] [ 4.28395695e-03 -9.61434126e-05 9.99990819e-01 7.99688285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.968623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.44, Y:121.40, Z:0.80 [[-2.53709896e-01 -9.67279857e-01 9.83077037e-04 1.67436246e+02] [ 9.67270872e-01 -2.53711778e-01 -4.17074188e-03 1.21399619e+02] [ 4.28369283e-03 -1.07256704e-04 9.99990819e-01 7.98970425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.998623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.44, Y:121.40, Z:0.80 [[-2.54793240e-01 -9.66995055e-01 9.84598291e-04 1.67438133e+02] [ 9.66986068e-01 -2.54795119e-01 -4.17038272e-03 1.21398071e+02] [ 4.28361030e-03 -1.10492496e-04 9.99990819e-01 7.99796904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.028623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.44, Y:121.41, Z:0.80 [[-2.55805880e-01 -9.66727666e-01 9.86115097e-04 1.67437855e+02] [ 9.66718678e-01 -2.55807756e-01 -4.17002403e-03 1.21410745e+02] [ 4.28353349e-03 -1.13420783e-04 9.99990819e-01 7.99493636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.44, Y:121.40, Z:0.80 [[-2.56248521e-01 -9.66610428e-01 9.87640429e-04 1.67441742e+02] [ 9.66601442e-01 -2.56250399e-01 -4.16966273e-03 1.21395897e+02] [ 4.28352274e-03 -1.13815247e-04 9.99990819e-01 8.03432270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.088623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.44, Y:121.39, Z:0.80 [[-2.55888444e-01 -9.66705811e-01 9.89166604e-04 1.67444852e+02] [ 9.66696827e-01 -2.55890332e-01 -4.16930065e-03 1.21391310e+02] [ 4.28360534e-03 -1.10651640e-04 9.99990819e-01 7.96665776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11862385300003 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:167.44, Y:121.41, Z:0.81 [[-2.55831246e-01 -9.66720948e-01 9.90684204e-04 1.67441023e+02] [ 9.66711965e-01 -2.55833141e-01 -4.16894001e-03 1.21407642e+02] [ 4.28365150e-03 -1.08838845e-04 9.99990819e-01 8.06402500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.148623853 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:167.45, Y:121.40, Z:0.81 [[-2.53572818e-01 -9.67315792e-01 9.92210603e-04 1.67445040e+02] [ 9.67306815e-01 -2.53574741e-01 -4.16857670e-03 1.21402902e+02] [ 4.28392962e-03 -9.72656629e-05 9.99990819e-01 8.06886582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.44, Y:121.41, Z:0.80 [[-2.51931624e-01 -9.67744527e-01 9.93745410e-04 1.67444996e+02] [ 9.67735554e-01 -2.51933568e-01 -4.16821079e-03 1.21411286e+02] [ 4.28412100e-03 -8.84213463e-05 9.99990819e-01 7.99722363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.208623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.44, Y:121.43, Z:0.80 [[-2.47396678e-01 -9.68913770e-01 9.95284502e-04 1.67443073e+02] [ 9.68904808e-01 -2.47398671e-01 -4.16784325e-03 1.21425532e+02] [ 4.28451278e-03 -6.67746340e-05 9.99990819e-01 8.01001732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.45, Y:121.41, Z:0.80 [[-2.45158030e-01 -9.69482618e-01 9.96838158e-04 1.67446394e+02] [ 9.69473662e-01 -2.45160050e-01 -4.16747162e-03 1.21413565e+02] [ 4.28467619e-03 -5.52807915e-05 9.99990819e-01 8.01903161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.268623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.44, Y:121.43, Z:0.80 [[-2.42623633e-01 -9.70119980e-01 9.98395697e-04 1.67442482e+02] [ 9.70111031e-01 -2.42625684e-01 -4.16709845e-03 1.21431659e+02] [ 4.28482191e-03 -4.24818877e-05 9.99990819e-01 8.01248915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29862385300004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.44, Y:121.44, Z:0.81 [[-2.38031841e-01 -9.71256837e-01 9.99959187e-04 1.67441221e+02] [ 9.71247899e-01 -2.38033940e-01 -4.16672323e-03 1.21435198e+02] [ 4.28498265e-03 -2.06045408e-05 9.99990819e-01 8.07962251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.328623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.44, Y:121.44, Z:0.80 [[-2.36039531e-01 -9.71742938e-01 1.00153771e-03 1.67439514e+02] [ 9.71734006e-01 -2.36041655e-01 -4.16634378e-03 1.21443999e+02] [ 4.28501976e-03 -1.01935757e-05 9.99990819e-01 8.02956917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:121.44, Z:0.80 [[-2.33795551e-01 -9.72285264e-01 1.00312654e-03 1.67441028e+02] [ 9.72276339e-01 -2.33797703e-01 -4.16596120e-03 1.21442229e+02] [ 4.28503137e-03 1.33300213e-06 9.99990819e-01 7.96914692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.388623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.44, Y:121.44, Z:0.80 [[-2.30383326e-01 -9.73099437e-01 1.00472209e-03 1.67440747e+02] [ 9.73090521e-01 -2.30385516e-01 -4.16557636e-03 1.21442562e+02] [ 4.28499343e-03 1.80062051e-05 9.99990819e-01 7.96771126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:121.44, Z:0.80 [[-2.29127719e-01 -9.73395847e-01 1.00631935e-03 1.67442220e+02] [ 9.73386936e-01 -2.29129927e-01 -4.16519046e-03 1.21435462e+02] [ 4.28495697e-03 2.51775165e-05 9.99990819e-01 7.97030601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:121.43, Z:0.80 [[-2.27601361e-01 -9.73753873e-01 1.00791538e-03 1.67442041e+02] [ 9.73744967e-01 -2.27603590e-01 -4.16480420e-03 1.21432213e+02] [ 4.28489938e-03 3.35374263e-05 9.99990819e-01 7.99703528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.45, Y:121.42, Z:0.80 [[-2.27579750e-01 -9.73758922e-01 1.00950836e-03 1.67445392e+02] [ 9.73750018e-01 -2.27581986e-01 -4.16441805e-03 1.21417481e+02] [ 4.28488515e-03 3.52715654e-05 9.99990819e-01 7.97287445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.508623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.44, Y:121.43, Z:0.80 [[-2.28264363e-01 -9.73598664e-01 1.01109356e-03 1.67443265e+02] [ 9.73589760e-01 -2.28266600e-01 -4.16403313e-03 1.21425157e+02] [ 4.28489599e-03 3.38899683e-05 9.99990819e-01 8.00147630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53862385300005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.44, Y:121.43, Z:0.80 [[-2.28880285e-01 -9.73454051e-01 1.01267756e-03 1.67442689e+02] [ 9.73445147e-01 -2.28882523e-01 -4.16364788e-03 1.21425485e+02] [ 4.28490409e-03 3.28091484e-05 9.99990819e-01 8.01122979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.568623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.44, Y:121.42, Z:0.80 [[-2.29630015e-01 -9.73277467e-01 1.01426879e-03 1.67442240e+02] [ 9.73268563e-01 -2.29632253e-01 -4.16326022e-03 1.21423242e+02] [ 4.28491618e-03 3.11464175e-05 9.99990819e-01 7.99431655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59862385300005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.44, Y:121.44, Z:0.80 [[-2.31118888e-01 -9.72924986e-01 1.01586170e-03 1.67435846e+02] [ 9.72916080e-01 -2.31121119e-01 -4.16287150e-03 1.21438669e+02] [ 4.28494879e-03 2.62299546e-05 9.99990819e-01 8.01725506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.628623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.44, Y:121.42, Z:0.80 [[-2.31979776e-01 -9.72720077e-01 1.01746620e-03 1.67439838e+02] [ 9.72711171e-01 -2.31982006e-01 -4.16247930e-03 1.21419603e+02] [ 4.28496103e-03 2.40897203e-05 9.99990819e-01 8.00762843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.658623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.44, Y:121.43, Z:0.80 [[-2.33838247e-01 -9.72274980e-01 1.01907162e-03 1.67437204e+02] [ 9.72266071e-01 -2.33840467e-01 -4.16208622e-03 1.21426500e+02] [ 4.28499248e-03 1.75538163e-05 9.99990819e-01 8.00841384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.688623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:167.43, Y:121.45, Z:0.81 [[-2.35234245e-01 -9.71938171e-01 1.02067286e-03 1.67430812e+02] [ 9.71929261e-01 -2.35236459e-01 -4.16169351e-03 1.21446396e+02] [ 4.28500824e-03 1.30489892e-05 9.99990819e-01 8.10130452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.44, Y:121.42, Z:0.80 [[-2.36528966e-01 -9.71623900e-01 1.02229345e-03 1.67438205e+02] [ 9.71614989e-01 -2.36531175e-01 -4.16129538e-03 1.21416559e+02] [ 4.28501832e-03 9.00874771e-06 9.99990819e-01 8.01261425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.44, Y:121.40, Z:0.80 [[-2.37982900e-01 -9.71268805e-01 1.02391088e-03 1.67441688e+02] [ 9.71259892e-01 -2.37985103e-01 -4.16089737e-03 1.21398314e+02] [ 4.28502535e-03 4.26114470e-06 9.99990819e-01 8.02328404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.778623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.44, Y:121.41, Z:0.80 [[-2.41323593e-01 -9.70444162e-01 1.02550236e-03 1.67436517e+02] [ 9.70435244e-01 -2.41325771e-01 -4.16050509e-03 1.21408068e+02] [ 4.28501802e-03 -8.84440747e-06 9.99990819e-01 8.03014018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.44, Y:121.40, Z:0.80 [[-2.43353802e-01 -9.69937045e-01 1.02709184e-03 1.67437106e+02] [ 9.69928124e-01 -2.43355969e-01 -4.16011266e-03 1.21404129e+02] [ 4.28499631e-03 -1.61739678e-05 9.99990819e-01 8.03027687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.838623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.45, Y:121.37, Z:0.80 [[-2.47300637e-01 -9.68938252e-01 1.02868807e-03 1.67446959e+02] [ 9.68929324e-01 -2.47302774e-01 -4.15971792e-03 1.21369265e+02] [ 4.28490722e-03 -3.19748507e-05 9.99990819e-01 8.02228213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:167.45, Y:121.37, Z:0.80 [[-2.49292588e-01 -9.68427666e-01 1.03026342e-03 1.67446028e+02] [ 9.68418735e-01 -2.49294714e-01 -4.15932771e-03 1.21373850e+02] [ 4.28484725e-03 -3.91631743e-05 9.99990819e-01 8.01427608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.898623853 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:167.45, Y:121.37, Z:0.80 [[-2.50832478e-01 -9.68029960e-01 1.03182399e-03 1.67447603e+02] [ 9.68021027e-01 -2.50834597e-01 -4.15894053e-03 1.21366685e+02] [ 4.28479619e-03 -4.43700457e-05 9.99990819e-01 8.01568508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92862385300003 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:167.45, Y:121.36, Z:0.80 [[-2.52454364e-01 -9.67608251e-01 1.03338544e-03 1.67448288e+02] [ 9.67599315e-01 -2.52456474e-01 -4.15855252e-03 1.21358527e+02] [ 4.28473457e-03 -4.99416895e-05 9.99990819e-01 8.01326589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.958623853 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:167.44, Y:121.36, Z:0.81 [[-2.53069581e-01 -9.67447526e-01 1.03494116e-03 1.67444510e+02] [ 9.67438591e-01 -2.53071692e-01 -4.15816531e-03 1.21364234e+02] [ 4.28472105e-03 -5.10631339e-05 9.99990819e-01 8.09316118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98862385300004 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:167.45, Y:121.36, Z:0.80 [[-2.52916120e-01 -9.67487655e-01 1.03649850e-03 1.67445049e+02] [ 9.67478722e-01 -2.52918239e-01 -4.15777707e-03 1.21362433e+02] [ 4.28474737e-03 -4.87785988e-05 9.99990819e-01 8.00613356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.018623853 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:167.44, Y:121.37, Z:0.80 [[-2.52257740e-01 -9.67659524e-01 1.03806129e-03 1.67443120e+02] [ 9.67650595e-01 -2.52259872e-01 -4.15738686e-03 1.21366335e+02] [ 4.28479620e-03 -4.42523889e-05 9.99990819e-01 7.98919303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04862385300004 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:167.44, Y:121.37, Z:0.80 [[-2.52118026e-01 -9.67695934e-01 1.03962777e-03 1.67443041e+02] [ 9.67687006e-01 -2.52120166e-01 -4.15699510e-03 1.21365461e+02] [ 4.28481838e-03 -4.20191113e-05 9.99990819e-01 7.99357147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.078623853 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:167.45, Y:121.35, Z:0.80 [[-2.51615486e-01 -9.67826722e-01 1.04119924e-03 1.67445950e+02] [ 9.67817796e-01 -2.51617638e-01 -4.15660146e-03 1.21347676e+02] [ 4.28485405e-03 -3.81741410e-05 9.99990819e-01 8.00128967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10862385300004 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:167.45, Y:121.33, Z:0.80 [[-2.51727123e-01 -9.67797690e-01 1.04276261e-03 1.67448612e+02] [ 9.67788766e-01 -2.51729280e-01 -4.15620922e-03 1.21333154e+02] [ 4.28486356e-03 -3.70566458e-05 9.99990819e-01 8.00338100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.138623853 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:167.44, Y:121.35, Z:0.80 [[-2.51916426e-01 -9.67748430e-01 1.04431041e-03 1.67444244e+02] [ 9.67739507e-01 -2.51918588e-01 -4.15582027e-03 1.21346238e+02] [ 4.28486975e-03 -3.62989464e-05 9.99990819e-01 8.00570251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16862385300004 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:167.45, Y:121.33, Z:0.80 [[-2.52610862e-01 -9.67567392e-01 1.04586032e-03 1.67445965e+02] [ 9.67558470e-01 -2.52613024e-01 -4.15543018e-03 1.21333845e+02] [ 4.28485669e-03 -3.77757920e-05 9.99990819e-01 8.01460612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.198623853 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:167.45, Y:121.34, Z:0.80 [[-2.53475564e-01 -9.67341223e-01 1.04741386e-03 1.67445191e+02] [ 9.67332300e-01 -2.53477725e-01 -4.15503856e-03 1.21335995e+02] [ 4.28483617e-03 -4.00034897e-05 9.99990819e-01 8.01478518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22862385300004 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:167.45, Y:121.33, Z:0.80 [[-2.55382156e-01 -9.66839622e-01 1.04896398e-03 1.67445445e+02] [ 9.66830696e-01 -2.55384306e-01 -4.15464719e-03 1.21334618e+02] [ 4.28476645e-03 -4.68521867e-05 9.99990819e-01 8.00710544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.258623853 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:167.45, Y:121.32, Z:0.80 [[-2.56831297e-01 -9.66455680e-01 1.05051722e-03 1.67449530e+02] [ 9.66446753e-01 -2.56833441e-01 -4.15425441e-03 1.21318077e+02] [ 4.28471072e-03 -5.16735925e-05 9.99990819e-01 8.00384846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28862385300005 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:167.44, Y:121.34, Z:0.80 [[-2.58120551e-01 -9.66112144e-01 1.05206305e-03 1.67444841e+02] [ 9.66103215e-01 -2.58122689e-01 -4.15386289e-03 1.21336130e+02] [ 4.28465873e-03 -5.57958812e-05 9.99990819e-01 8.00513426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.318623853 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:167.45, Y:121.31, Z:0.80 [[-2.60593244e-01 -9.65448109e-01 1.05361273e-03 1.67451574e+02] [ 9.65439177e-01 -2.60595366e-01 -4.15346978e-03 1.21310962e+02] [ 4.28452614e-03 -6.51671590e-05 9.99990819e-01 8.01938672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34862385300005 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:167.45, Y:121.30, Z:0.80 [[-2.62096090e-01 -9.65041204e-01 1.05516052e-03 1.67454347e+02] [ 9.65032270e-01 -2.62098205e-01 -4.15307654e-03 1.21302423e+02] [ 4.28444567e-03 -7.02411760e-05 9.99990819e-01 8.02855692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.378623853 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:167.46, Y:121.30, Z:0.80 [[-2.63509292e-01 -9.64656279e-01 1.05669181e-03 1.67455433e+02] [ 9.64647343e-01 -2.63511400e-01 -4.15268689e-03 1.21299624e+02] [ 4.28436582e-03 -7.49366403e-05 9.99990819e-01 8.03158628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.408623853 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:167.45, Y:121.32, Z:0.80 [[-2.65063236e-01 -9.64230450e-01 1.05821928e-03 1.67451647e+02] [ 9.64221513e-01 -2.65065336e-01 -4.15229761e-03 1.21315483e+02] [ 4.28426905e-03 -8.02636483e-05 9.99990819e-01 8.02881188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.438623853 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:167.46, Y:121.29, Z:0.80 [[-2.65926602e-01 -9.63992697e-01 1.05975691e-03 1.67459180e+02] [ 9.63983759e-01 -2.65928701e-01 -4.15190514e-03 1.21288442e+02] [ 4.28422601e-03 -8.25135714e-05 9.99990819e-01 8.02770970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.468623853 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:167.46, Y:121.31, Z:0.80 [[-2.66750036e-01 -9.63765164e-01 1.06129047e-03 1.67455522e+02] [ 9.63756226e-01 -2.66752134e-01 -4.15151310e-03 1.21307127e+02] [ 4.28418520e-03 -8.45909707e-05 9.99990819e-01 8.02606525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.498623853 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:167.46, Y:121.28, Z:0.80 [[-2.67149510e-01 -9.63654507e-01 1.06282168e-03 1.67462129e+02] [ 9.63645570e-01 -2.67151611e-01 -4.15112106e-03 1.21282456e+02] [ 4.28418104e-03 -8.47865572e-05 9.99990819e-01 8.02104064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.528623853 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:167.46, Y:121.30, Z:0.80 [[-2.67526712e-01 -9.63549856e-01 1.06435175e-03 1.67456871e+02] [ 9.63540920e-01 -2.67528816e-01 -4.15072871e-03 1.21304548e+02] [ 4.28417882e-03 -8.48843391e-05 9.99990819e-01 8.02714180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55862385300003 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:167.46, Y:121.28, Z:0.80 [[-2.67760513e-01 -9.63484910e-01 1.06588267e-03 1.67463378e+02] [ 9.63475975e-01 -2.67762621e-01 -4.15033554e-03 1.21280949e+02] [ 4.28418920e-03 -8.43436303e-05 9.99990819e-01 8.01964214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.588623853 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:167.47, Y:121.28, Z:0.80 [[-2.68086871e-01 -9.63394151e-01 1.06741564e-03 1.67466534e+02] [ 9.63385217e-01 -2.68088983e-01 -4.14994124e-03 1.21277118e+02] [ 4.28419150e-03 -8.42123108e-05 9.99990819e-01 8.00472521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61862385300003 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:167.46, Y:121.31, Z:0.80 [[-2.68290041e-01 -9.63337590e-01 1.06893556e-03 1.67459783e+02] [ 9.63328656e-01 -2.68292157e-01 -4.14954971e-03 1.21308628e+02] [ 4.28420424e-03 -8.35466020e-05 9.99990819e-01 7.99296312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.648623853 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:167.46, Y:121.30, Z:0.80 [[-2.68535022e-01 -9.63269327e-01 1.07047268e-03 1.67464500e+02] [ 9.63260394e-01 -2.68537143e-01 -4.14915314e-03 1.21295881e+02] [ 4.28421362e-03 -8.30489956e-05 9.99990819e-01 7.99380915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67862385300003 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:167.47, Y:121.28, Z:0.80 [[-2.68712394e-01 -9.63219861e-01 1.07202285e-03 1.67471496e+02] [ 9.63210930e-01 -2.68714520e-01 -4.14875258e-03 1.21276326e+02] [ 4.28422898e-03 -8.22371082e-05 9.99990819e-01 7.99347118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.708623853 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:167.47, Y:121.29, Z:0.80 [[-2.68420433e-01 -9.63301261e-01 1.07355696e-03 1.67472717e+02] [ 9.63292332e-01 -2.68422568e-01 -4.14835556e-03 1.21287283e+02] [ 4.28428306e-03 -7.93542108e-05 9.99990819e-01 7.99211689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73862385300004 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:167.47, Y:121.30, Z:0.80 [[-2.67919990e-01 -9.63440565e-01 1.07508821e-03 1.67471588e+02] [ 9.63431639e-01 -2.67922136e-01 -4.14795869e-03 1.21296904e+02] [ 4.28435159e-03 -7.55470499e-05 9.99990819e-01 7.99640458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.768623853 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:167.47, Y:121.31, Z:0.80 [[-2.65541458e-01 -9.64098841e-01 1.07663243e-03 1.67470448e+02] [ 9.64089922e-01 -2.65543633e-01 -4.14755783e-03 1.21307835e+02] [ 4.28454859e-03 -6.33780754e-05 9.99990819e-01 8.00051646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79862385300004 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:167.47, Y:121.31, Z:0.80 [[-2.63911299e-01 -9.64546351e-01 1.07819086e-03 1.67471952e+02] [ 9.64537437e-01 -2.63913496e-01 -4.14715267e-03 1.21306105e+02] [ 4.28467009e-03 -5.45249998e-05 9.99990819e-01 8.00429011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.828623853 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:167.47, Y:121.31, Z:0.80 [[-2.61970649e-01 -9.65075237e-01 1.07975705e-03 1.67471394e+02] [ 9.65066329e-01 -2.61972870e-01 -4.14674485e-03 1.21312121e+02] [ 4.28478783e-03 -4.42882648e-05 9.99990819e-01 8.01332900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85862385300004 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:167.47, Y:121.31, Z:0.80 [[-2.62337353e-01 -9.64975618e-01 1.08132799e-03 1.67472096e+02] [ 9.64966711e-01 -2.62339578e-01 -4.14633516e-03 1.21309719e+02] [ 4.28478747e-03 -4.42930741e-05 9.99990819e-01 8.01322119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.888623853 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:167.48, Y:121.30, Z:0.80 [[-2.57650873e-01 -9.66237473e-01 1.08290344e-03 1.67475942e+02] [ 9.66228579e-01 -2.57653148e-01 -4.14592366e-03 1.21300170e+02] [ 4.28496028e-03 -2.18686003e-05 9.99990819e-01 8.01442509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91862385300004 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:167.47, Y:121.32, Z:0.80 [[-2.55602404e-01 -9.66781379e-01 1.08447407e-03 1.67471380e+02] [ 9.66772491e-01 -2.55604704e-01 -4.14551278e-03 1.21319660e+02] [ 4.28500124e-03 -1.11633327e-05 9.99990819e-01 8.01503895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.948623853 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:167.47, Y:121.33, Z:0.80 [[-2.51444562e-01 -9.67871093e-01 1.08605312e-03 1.67469232e+02] [ 9.67862217e-01 -2.51446907e-01 -4.14509906e-03 1.21326284e+02] [ 4.28500625e-03 8.88716137e-06 9.99990819e-01 8.01360162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97862385300004 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:167.47, Y:121.32, Z:0.80 [[-2.49510125e-01 -9.68371579e-01 1.08765075e-03 1.67469433e+02] [ 9.68362709e-01 -2.49512494e-01 -4.14467981e-03 1.21322181e+02] [ 4.28497258e-03 1.91008511e-05 9.99990819e-01 8.01041479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.008623853 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:167.47, Y:121.32, Z:0.80 [[-2.47555950e-01 -9.68872987e-01 1.08925279e-03 1.67469986e+02] [ 9.68864124e-01 -2.47558345e-01 -4.14425874e-03 1.21317584e+02] [ 4.28491396e-03 2.94020373e-05 9.99990819e-01 8.01351149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03862385300005 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:167.48, Y:121.29, Z:0.80 [[-2.43349330e-01 -9.69938098e-01 1.09085304e-03 1.67475401e+02] [ 9.69929247e-01 -2.43351769e-01 -4.14383747e-03 1.21293629e+02] [ 4.28472686e-03 4.96501960e-05 9.99990819e-01 7.99799580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.068623853 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:167.48, Y:121.28, Z:0.80 [[-2.41849605e-01 -9.70313133e-01 1.09243851e-03 1.67477310e+02] [ 9.70304288e-01 -2.41852065e-01 -4.14341945e-03 1.21282744e+02] [ 4.28462282e-03 5.79134141e-05 9.99990819e-01 8.01030017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09862385300005 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:167.48, Y:121.28, Z:0.80 [[-2.40429051e-01 -9.70666098e-01 1.09400664e-03 1.67476648e+02] [ 9.70657259e-01 -2.40431531e-01 -4.14300537e-03 1.21280945e+02] [ 4.28450855e-03 6.58066311e-05 9.99990819e-01 8.00330207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.128623853 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:167.48, Y:121.27, Z:0.80 [[-2.38893293e-01 -9.71045207e-01 1.09556999e-03 1.67477340e+02] [ 9.71036374e-01 -2.38895793e-01 -4.14259192e-03 1.21267186e+02] [ 4.28437109e-03 7.42008837e-05 9.99990819e-01 8.00142965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.158623853 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:167.48, Y:121.25, Z:0.81 [[-2.39296619e-01 -9.70945892e-01 1.09712757e-03 1.67476458e+02] [ 9.70937059e-01 -2.39299123e-01 -4.14217937e-03 1.21251943e+02] [ 4.28437371e-03 7.40322982e-05 9.99990819e-01 8.07882872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.188623853 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:167.48, Y:121.26, Z:0.80 [[-2.39764486e-01 -9.70830461e-01 1.09867238e-03 1.67475523e+02] [ 9.70821629e-01 -2.39766992e-01 -4.14176958e-03 1.21255663e+02] [ 4.28438145e-03 7.35656534e-05 9.99990819e-01 7.99770331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.218623853 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:167.47, Y:121.27, Z:0.80 [[-2.40724394e-01 -9.70592889e-01 1.10021429e-03 1.67471387e+02] [ 9.70584056e-01 -2.40726898e-01 -4.14135995e-03 1.21266613e+02] [ 4.28442569e-03 7.09240835e-05 9.99990819e-01 7.99232159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.248623853 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:167.47, Y:121.26, Z:0.80 [[-2.41883968e-01 -9.70304556e-01 1.10176709e-03 1.67470794e+02] [ 9.70295723e-01 -2.41886468e-01 -4.14094680e-03 1.21264402e+02] [ 4.28448210e-03 6.74112499e-05 9.99990819e-01 7.99144258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.278623853 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:167.46, Y:121.27, Z:0.80 [[-2.44518867e-01 -9.69643907e-01 1.10332812e-03 1.67464079e+02] [ 9.69635068e-01 -2.44521350e-01 -4.14053084e-03 1.21274805e+02] [ 4.28462778e-03 5.73877269e-05 9.99990819e-01 8.00036049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30862385300003 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:167.47, Y:121.26, Z:0.80 [[-2.46355604e-01 -9.69178877e-01 1.10489747e-03 1.67465597e+02] [ 9.69170035e-01 -2.46358077e-01 -4.14011202e-03 1.21261970e+02] [ 4.28470953e-03 5.08937180e-05 9.99990819e-01 7.99253829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.338623853 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:167.46, Y:121.28, Z:0.80 [[-2.50584418e-01 -9.68094120e-01 1.10646873e-03 1.67458682e+02] [ 9.68085270e-01 -2.50586859e-01 -4.13969204e-03 1.21276956e+02] [ 4.28487805e-03 3.38137623e-05 9.99990819e-01 7.98477239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36862385300003 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:167.46, Y:121.28, Z:0.80 [[-2.53076369e-01 -9.67445670e-01 1.10804451e-03 1.67456498e+02] [ 9.67436815e-01 -2.53078793e-01 -4.13927022e-03 1.21279967e+02] [ 4.28494162e-03 2.44115762e-05 9.99990819e-01 8.01247288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.398623853 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:167.46, Y:121.28, Z:0.80 [[-2.55985585e-01 -9.66679962e-01 1.10963458e-03 1.67457087e+02] [ 9.66671102e-01 -2.55987989e-01 -4.13884392e-03 1.21276288e+02] [ 4.28499061e-03 1.31672971e-05 9.99990819e-01 7.96936230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42862385300003 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:167.46, Y:121.26, Z:0.80 [[-2.61697926e-01 -9.65149191e-01 1.11122740e-03 1.67460721e+02] [ 9.65140319e-01 -2.61700285e-01 -4.13841622e-03 1.21259644e+02] [ 4.28499760e-03 -1.05245780e-05 9.99990819e-01 7.99714336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.458623853 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:167.47, Y:121.24, Z:0.80 [[-2.64843756e-01 -9.64290696e-01 1.11281079e-03 1.67465052e+02] [ 9.64281818e-01 -2.64846092e-01 -4.13799041e-03 1.21240811e+02] [ 4.28494924e-03 -2.28577051e-05 9.99990819e-01 7.99812419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48862385300004 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:167.47, Y:121.22, Z:0.80 [[-2.68347987e-01 -9.63321398e-01 1.11437634e-03 1.67469323e+02] [ 9.63312513e-01 -2.68350298e-01 -4.13756876e-03 1.21217284e+02] [ 4.28485174e-03 -3.68155706e-05 9.99990819e-01 8.04861176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.518623853 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:167.47, Y:121.20, Z:0.80 [[-2.73919249e-01 -9.61752047e-01 1.11591993e-03 1.67473885e+02] [ 9.61743150e-01 -2.73921516e-01 -4.13715240e-03 1.21201815e+02] [ 4.28458927e-03 -6.00173272e-05 9.99990819e-01 7.97672661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54862385300004 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:167.47, Y:121.21, Z:0.80 [[-2.76597706e-01 -9.60985151e-01 1.11744485e-03 1.67470816e+02] [ 9.60976250e-01 -2.76599955e-01 -4.13674048e-03 1.21213416e+02] [ 4.28443137e-03 -7.03749667e-05 9.99990819e-01 7.97697466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.578623853 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:167.48, Y:121.18, Z:0.80 [[-2.79473517e-01 -9.60152749e-01 1.11896962e-03 1.67478943e+02] [ 9.60143843e-01 -2.79475745e-01 -4.13632800e-03 1.21183776e+02] [ 4.28423156e-03 -8.16223434e-05 9.99990819e-01 7.96099235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60862385300004 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:167.47, Y:121.20, Z:0.80 [[-2.80795778e-01 -9.59766887e-01 1.11953741e-03 1.67473984e+02] [ 9.59757979e-01 -2.80797996e-01 -4.13617431e-03 1.21202340e+02] [ 4.28412701e-03 -8.69353185e-05 9.99990819e-01 7.95375051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.638623853 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:167.48, Y:121.18, Z:0.79 [[-2.81692498e-01 -9.59504080e-01 1.12105131e-03 1.67479738e+02] [ 9.59495171e-01 -2.81694715e-01 -4.13576395e-03 1.21181727e+02] [ 4.28407661e-03 -8.93703595e-05 9.99990819e-01 7.94734719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66862385300004 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:167.49, Y:121.16, Z:0.79 [[-2.82238030e-01 -9.59343752e-01 1.12256674e-03 1.67485175e+02] [ 9.59334843e-01 -2.82240248e-01 -4.13535258e-03 1.21161667e+02] [ 4.28405817e-03 -9.02363791e-05 9.99990819e-01 7.94051915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.698623853 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:167.48, Y:121.17, Z:0.79 [[-2.82840509e-01 -9.59166296e-01 1.12406252e-03 1.67482911e+02] [ 9.59157387e-01 -2.82842728e-01 -4.13494596e-03 1.21169391e+02] [ 4.28403371e-03 -9.13773519e-05 9.99990819e-01 7.94102233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72862385300004 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:167.48, Y:121.17, Z:0.79 [[-2.82791911e-01 -9.59180623e-01 1.12555416e-03 1.67482798e+02] [ 9.59171716e-01 -2.82794137e-01 -4.13453989e-03 1.21169805e+02] [ 4.28407066e-03 -8.96147259e-05 9.99990819e-01 7.93738916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.758623853 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:167.49, Y:121.16, Z:0.80 [[-2.81771132e-01 -9.59480984e-01 1.12705270e-03 1.67485989e+02] [ 9.59472081e-01 -2.81773374e-01 -4.13413135e-03 1.21160209e+02] [ 4.28419386e-03 -8.35032708e-05 9.99990819e-01 7.95799065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78862385300005 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:167.48, Y:121.19, Z:0.80 [[-2.81049740e-01 -9.59692539e-01 1.12854851e-03 1.67478337e+02] [ 9.59683640e-01 -2.81051995e-01 -4.13372298e-03 1.21189352e+02] [ 4.28428392e-03 -7.87322267e-05 9.99990819e-01 7.96800667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.818623853 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:167.48, Y:121.18, Z:0.80 [[-2.78790240e-01 -9.60351355e-01 1.13005720e-03 1.67480581e+02] [ 9.60342463e-01 -2.78792522e-01 -4.13331050e-03 1.21182052e+02] [ 4.28448184e-03 -6.70847077e-05 9.99990819e-01 7.98108417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84862385300005 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:167.48, Y:121.18, Z:0.80 [[-2.77757223e-01 -9.60650636e-01 1.13158070e-03 1.67481166e+02] [ 9.60641748e-01 -2.77759521e-01 -4.13289337e-03 1.21181054e+02] [ 4.28457396e-03 -6.08973198e-05 9.99990819e-01 7.99044797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.878623853 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:167.48, Y:121.18, Z:0.80 [[-2.76425995e-01 -9.61034539e-01 1.13310186e-03 1.67480627e+02] [ 9.61025656e-01 -2.76428312e-01 -4.13247628e-03 1.21184654e+02] [ 4.28467387e-03 -5.33839044e-05 9.99990819e-01 7.98300047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.908623853 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:167.48, Y:121.20, Z:0.80 [[-2.73082064e-01 -9.61990072e-01 1.13462675e-03 1.67475473e+02] [ 9.61981199e-01 -2.73084419e-01 -4.13205755e-03 1.21204586e+02] [ 4.28484723e-03 -3.69012003e-05 9.99990819e-01 8.00349165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.938623853 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:167.47, Y:121.22, Z:0.80 [[-2.71230700e-01 -9.62513697e-01 1.13616778e-03 1.67471919e+02] [ 9.62504830e-01 -2.71233078e-01 -4.13163378e-03 1.21215865e+02] [ 4.28492039e-03 -2.70589413e-05 9.99990819e-01 8.00810430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.968623853 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:167.47, Y:121.21, Z:0.80 [[-2.67969203e-01 -9.63426807e-01 1.13772914e-03 1.67471295e+02] [ 9.63417949e-01 -2.67971618e-01 -4.13120379e-03 1.21211671e+02] [ 4.28499159e-03 -1.09267132e-05 9.99990819e-01 8.02897646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.998623853 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:167.47, Y:121.21, Z:0.80 [[-2.66626697e-01 -9.63799204e-01 1.13929778e-03 1.67472189e+02] [ 9.63790352e-01 -2.66629131e-01 -4.13077114e-03 1.21208022e+02] [ 4.28500392e-03 -3.32965780e-06 9.99990819e-01 8.03067735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.028623853 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:167.47, Y:121.22, Z:0.80 [[-2.65520118e-01 -9.64104645e-01 1.14086446e-03 1.67468851e+02] [ 9.64095797e-01 -2.65522569e-01 -4.13033840e-03 1.21218814e+02] [ 4.28500370e-03 3.21469320e-06 9.99990819e-01 8.02853040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05862385300003 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:167.47, Y:121.21, Z:0.80 [[-2.62673799e-01 -9.64884019e-01 1.14243848e-03 1.67469076e+02] [ 9.64875181e-01 -2.62676283e-01 -4.12990299e-03 1.21211629e+02] [ 4.28496889e-03 1.74932299e-05 9.99990819e-01 8.02195105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.088623853 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:167.47, Y:121.21, Z:0.80 [[-2.61312909e-01 -9.65253467e-01 1.14401732e-03 1.67469688e+02] [ 9.65244634e-01 -2.61315412e-01 -4.12946559e-03 1.21206330e+02] [ 4.28493033e-03 2.51739115e-05 9.99990819e-01 8.02148182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11862385300003 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:167.46, Y:121.22, Z:0.80 [[-2.60084206e-01 -9.65585259e-01 1.14559206e-03 1.67464505e+02] [ 9.65576432e-01 -2.60086727e-01 -4.12902868e-03 1.21221030e+02] [ 4.28488252e-03 3.22615423e-05 9.99990819e-01 8.03036482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.148623853 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:167.47, Y:121.21, Z:0.80 [[-2.57940756e-01 -9.66160054e-01 1.14717528e-03 1.67465703e+02] [ 9.66151234e-01 -2.57943303e-01 -4.12858877e-03 1.21205739e+02] [ 4.28478373e-03 4.34135032e-05 9.99990819e-01 8.03210458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17862385300003 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:167.46, Y:121.21, Z:0.80 [[-2.57607383e-01 -9.66248993e-01 1.14876177e-03 1.67463916e+02] [ 9.66240176e-01 -2.57609940e-01 -4.12814728e-03 1.21208116e+02] [ 4.28475061e-03 4.65385526e-05 9.99990819e-01 8.02870637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.208623853 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:167.46, Y:121.20, Z:0.80 [[-2.58016998e-01 -9.66139693e-01 1.15034412e-03 1.67463197e+02] [ 9.66130876e-01 -2.58019558e-01 -4.12770630e-03 1.21204273e+02] [ 4.28475218e-03 4.63645809e-05 9.99990819e-01 8.01697190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23862385300004 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:167.46, Y:121.21, Z:0.80 [[-2.59048864e-01 -9.65863530e-01 1.15192867e-03 1.67461298e+02] [ 9.65854713e-01 -2.59051422e-01 -4.12726405e-03 1.21207360e+02] [ 4.28478258e-03 4.34326696e-05 9.99990819e-01 8.01506232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.268623853 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:167.46, Y:121.20, Z:0.80 [[-2.60550597e-01 -9.65459505e-01 1.15351596e-03 1.67461411e+02] [ 9.65450686e-01 -2.60553147e-01 -4.12682037e-03 1.21202807e+02] [ 4.28483017e-03 3.84172636e-05 9.99990819e-01 8.00911980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29862385300004 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:167.46, Y:121.20, Z:0.80 [[-2.64437396e-01 -9.64402162e-01 1.15510522e-03 1.67460363e+02] [ 9.64393334e-01 -2.64439918e-01 -4.12637549e-03 1.21198610e+02] [ 4.28494137e-03 2.28077831e-05 9.99990819e-01 8.01334139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.328623853 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:167.46, Y:121.18, Z:0.80 [[-2.67153711e-01 -9.63653235e-01 1.15669270e-03 1.67463223e+02] [ 9.63644402e-01 -2.67156215e-01 -4.12593044e-03 1.21184385e+02] [ 4.28498386e-03 1.23828169e-05 9.99990819e-01 8.01452226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35862385300004 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:167.46, Y:121.18, Z:0.80 [[-2.72348822e-01 -9.62197889e-01 1.15827237e-03 1.67462221e+02] [ 9.62189045e-01 -2.72351285e-01 -4.12548694e-03 1.21181652e+02] [ 4.28499179e-03 -9.09452546e-06 9.99990819e-01 8.02332668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.388623853 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:167.47, Y:121.16, Z:0.80 [[-2.74807896e-01 -9.61498453e-01 1.15984506e-03 1.67468647e+02] [ 9.61489604e-01 -2.74810343e-01 -4.12504474e-03 1.21157855e+02] [ 4.28496156e-03 -1.84158943e-05 9.99990819e-01 8.02115266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41862385300004 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:167.47, Y:121.15, Z:0.80 [[-2.77883734e-01 -9.60614015e-01 1.15945535e-03 1.67470998e+02] [ 9.60605158e-01 -2.77886151e-01 -4.12515428e-03 1.21149363e+02] [ 4.28487760e-03 -3.25344860e-05 9.99990819e-01 8.02350789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.448623853 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:167.47, Y:121.14, Z:0.81 [[-2.80893811e-01 -9.59738151e-01 1.16099480e-03 1.67472381e+02] [ 9.59729289e-01 -2.80896207e-01 -4.12472096e-03 1.21139176e+02] [ 4.28477111e-03 -4.43678744e-05 9.99990819e-01 8.11178822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47862385300004 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:167.48, Y:121.13, Z:0.81 [[-2.85903733e-01 -9.58257640e-01 1.16252641e-03 1.67477207e+02] [ 9.58248767e-01 -2.85906089e-01 -4.12428924e-03 1.21125418e+02] [ 4.28450506e-03 -6.51601919e-05 9.99990819e-01 8.11107634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.508623853 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:167.48, Y:121.12, Z:0.80 [[-2.88445933e-01 -9.57495477e-01 1.16404756e-03 1.67481748e+02] [ 9.57486600e-01 -2.88448272e-01 -4.12385987e-03 1.21116811e+02] [ 4.28434468e-03 -7.49506657e-05 9.99990819e-01 8.02808069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53862385300005 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:167.49, Y:121.09, Z:0.80 [[-2.92302186e-01 -9.56325297e-01 1.16555862e-03 1.67488796e+02] [ 9.56316412e-01 -2.92304496e-01 -4.12343274e-03 1.21093804e+02] [ 4.28404106e-03 -9.06455685e-05 9.99990819e-01 8.02989799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.568623853 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:167.48, Y:121.11, Z:0.80 [[-2.94115095e-01 -9.55769298e-01 1.16574500e-03 1.67484434e+02] [ 9.55760409e-01 -2.94117389e-01 -4.12338005e-03 1.21108958e+02] [ 4.28386593e-03 -9.85753987e-05 9.99990819e-01 8.02984519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59862385300005 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:167.49, Y:121.11, Z:0.80 [[-2.95383165e-01 -9.55378157e-01 1.16723691e-03 1.67485854e+02] [ 9.55369267e-01 -2.95385453e-01 -4.12295768e-03 1.21105457e+02] [ 4.28376851e-03 -1.02710014e-04 9.99990819e-01 8.02483128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.628623853 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:167.49, Y:121.10, Z:0.80 [[-2.97071971e-01 -9.54854375e-01 1.16873762e-03 1.67489538e+02] [ 9.54845482e-01 -2.97074250e-01 -4.12253223e-03 1.21098468e+02] [ 4.28361979e-03 -1.08724940e-04 9.99990819e-01 8.02311224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.658623853 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:167.49, Y:121.11, Z:0.81 [[-2.97826842e-01 -9.54619193e-01 1.17023509e-03 1.67485182e+02] [ 9.54610299e-01 -2.97829120e-01 -4.12210711e-03 1.21111696e+02] [ 4.28357264e-03 -1.10555672e-04 9.99990819e-01 8.09564209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.688623853 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:167.50, Y:121.08, Z:0.80 [[-2.97878758e-01 -9.54602992e-01 1.17173810e-03 1.67495257e+02] [ 9.54594100e-01 -2.97881043e-01 -4.12167982e-03 1.21084370e+02] [ 4.28360646e-03 -1.09226591e-04 9.99990819e-01 8.02149756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.718623853 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:167.50, Y:121.08, Z:0.80 [[-2.98222058e-01 -9.54495799e-01 1.17192472e-03 1.67496017e+02] [ 9.54486907e-01 -2.98224340e-01 -4.12162676e-03 1.21081969e+02] [ 4.28357190e-03 -1.10573214e-04 9.99990819e-01 8.02138970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.748623853 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:167.49, Y:121.10, Z:0.80 [[-2.98511052e-01 -9.54405456e-01 1.17340691e-03 1.67490904e+02] [ 9.54396565e-01 -2.98513338e-01 -4.12120474e-03 1.21104126e+02] [ 4.28357791e-03 -1.10329638e-04 9.99990819e-01 8.01895697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.778623853 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:167.50, Y:121.08, Z:0.80 [[-2.98484095e-01 -9.54413886e-01 1.17490178e-03 1.67502697e+02] [ 9.54404996e-01 -2.98486387e-01 -4.12077853e-03 1.21075410e+02] [ 4.28362044e-03 -1.08654720e-04 9.99990819e-01 8.00241810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80862385300003 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:167.51, Y:121.07, Z:0.80 [[-2.98647361e-01 -9.54362810e-01 1.17527392e-03 1.67505934e+02] [ 9.54353920e-01 -2.98649654e-01 -4.12067239e-03 1.21072045e+02] [ 4.28361163e-03 -1.09000668e-04 9.99990819e-01 8.00050900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.838623853 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:167.51, Y:121.08, Z:0.80 [[-2.97855303e-01 -9.54610305e-01 1.17675115e-03 1.67507112e+02] [ 9.54601418e-01 -2.97857609e-01 -4.12025049e-03 1.21080631e+02] [ 4.28373786e-03 -1.03910137e-04 9.99990819e-01 7.99684067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86862385300003 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:167.51, Y:121.08, Z:0.81 [[-2.97353605e-01 -9.54766698e-01 1.17767354e-03 1.67507178e+02] [ 9.54757814e-01 -2.97355920e-01 -4.11998683e-03 1.21078605e+02] [ 4.28381442e-03 -1.00699925e-04 9.99990819e-01 8.07703308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.898623853 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:167.51, Y:121.09, Z:0.80 [[-2.96492148e-01 -9.55034563e-01 1.17915977e-03 1.67508940e+02] [ 9.55025683e-01 -2.96494477e-01 -4.11956142e-03 1.21085426e+02] [ 4.28393790e-03 -9.52897473e-05 9.99990819e-01 7.98839097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92862385300003 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:167.51, Y:121.10, Z:0.81 [[-2.94047013e-01 -9.55790228e-01 1.18065030e-03 1.67507426e+02] [ 9.55781356e-01 -2.94049371e-01 -4.11913420e-03 1.21095829e+02] [ 4.28419769e-03 -8.27755593e-05 9.99990819e-01 8.07896471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.958623853 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:167.51, Y:121.11, Z:0.80 [[-2.92439109e-01 -9.56283415e-01 1.18215175e-03 1.67508745e+02] [ 9.56274548e-01 -2.92441489e-01 -4.11870325e-03 1.21105101e+02] [ 4.28435783e-03 -7.40082836e-05 9.99990819e-01 7.97207552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98862385300004 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:167.51, Y:121.12, Z:0.80 [[-2.88646259e-01 -9.57435082e-01 1.18366550e-03 1.67508746e+02] [ 9.57426227e-01 -2.88648680e-01 -4.11826817e-03 1.21117708e+02] [ 4.28463791e-03 -5.54503051e-05 9.99990819e-01 7.96865426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.018623853 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:167.52, Y:121.10, Z:0.80 [[-2.86316852e-01 -9.58134258e-01 1.18519322e-03 1.67515566e+02] [ 9.58125410e-01 -2.86319302e-01 -4.11782846e-03 1.21097368e+02] [ 4.28477621e-03 -4.34399453e-05 9.99990819e-01 7.99707581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04862385300004 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:167.51, Y:121.12, Z:0.80 [[-2.81213760e-01 -9.59644421e-01 1.18585901e-03 1.67508515e+02] [ 9.59635587e-01 -2.81216260e-01 -4.11763672e-03 1.21123318e+02] [ 4.28494994e-03 -1.99436032e-05 9.99990819e-01 8.01000916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.078623853 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:167.50, Y:121.14, Z:0.80 [[-2.78746699e-01 -9.60363925e-01 1.18739069e-03 1.67501551e+02] [ 9.60355099e-01 -2.78749228e-01 -4.11719498e-03 1.21144746e+02] [ 4.28498977e-03 -7.33780404e-06 9.99990819e-01 8.04200968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10862385300004 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:167.50, Y:121.14, Z:0.80 [[-2.76262591e-01 -9.61081457e-01 1.18895222e-03 1.67503116e+02] [ 9.61072640e-01 -2.76265149e-01 -4.11674400e-03 1.21143138e+02] [ 4.28499239e-03 5.36708014e-06 9.99990819e-01 8.01745484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.138623853 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:167.50, Y:121.14, Z:0.80 [[-2.73723768e-01 -9.61807612e-01 1.19052836e-03 1.67503602e+02] [ 9.61798803e-01 -2.73726356e-01 -4.11628814e-03 1.21141827e+02] [ 4.28495626e-03 1.83228526e-05 9.99990819e-01 8.02610248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16862385300004 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:167.51, Y:121.13, Z:0.80 [[-2.68805698e-01 -9.63193685e-01 1.19210563e-03 1.67507128e+02] [ 9.63184893e-01 -2.68808338e-01 -4.11583130e-03 1.21129986e+02] [ 4.28479066e-03 4.18592280e-05 9.99990819e-01 8.01585976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.198623853 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:167.51, Y:121.13, Z:0.80 [[-2.64623058e-01 -9.64351187e-01 1.19367750e-03 1.67506809e+02] [ 9.64342408e-01 -2.64625743e-01 -4.11537538e-03 1.21128064e+02] [ 4.28454493e-03 6.20906184e-05 9.99990819e-01 8.01914098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22862385300004 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:167.51, Y:121.11, Z:0.80 [[-2.62941699e-01 -9.64810984e-01 1.19524401e-03 1.67511370e+02] [ 9.64802211e-01 -2.62944406e-01 -4.11492036e-03 1.21108114e+02] [ 4.28440309e-03 7.11899129e-05 9.99990819e-01 8.01908319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.258623853 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:167.51, Y:121.11, Z:0.80 [[-2.61117626e-01 -9.65306248e-01 1.19680082e-03 1.67509695e+02] [ 9.65297483e-01 -2.61120356e-01 -4.11446752e-03 1.21108773e+02] [ 4.28423026e-03 8.09088239e-05 9.99990819e-01 8.02412569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28862385300005 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:167.50, Y:121.12, Z:0.80 [[-2.59599056e-01 -9.65715742e-01 1.19834906e-03 1.67503951e+02] [ 9.65706983e-01 -2.59601807e-01 -4.11401654e-03 1.21121214e+02] [ 4.28406412e-03 8.92592441e-05 9.99990819e-01 8.03764119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.318623853 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:167.51, Y:121.08, Z:0.80 [[-2.56179403e-01 -9.66628509e-01 1.19990834e-03 1.67510463e+02] [ 9.66619762e-01 -2.56182191e-01 -4.11356171e-03 1.21084932e+02] [ 4.28368117e-03 1.06045334e-04 9.99990819e-01 8.03145470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34862385300005 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:167.51, Y:121.08, Z:0.80 [[-2.54089543e-01 -9.67179954e-01 1.20048757e-03 1.67508147e+02] [ 9.67171214e-01 -2.54092353e-01 -4.11339266e-03 1.21081661e+02] [ 4.28342564e-03 1.15906962e-04 9.99990819e-01 8.03856729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.378623853 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:167.51, Y:121.08, Z:0.80 [[-2.53818059e-01 -9.67251233e-01 1.20201768e-03 1.67506117e+02] [ 9.67242496e-01 -2.53820878e-01 -4.11294548e-03 1.21082339e+02] [ 4.28334877e-03 1.18702740e-04 9.99990819e-01 8.02643324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.408623853 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:167.51, Y:121.06, Z:0.80 [[-2.53675611e-01 -9.67288600e-01 1.20354984e-03 1.67511339e+02] [ 9.67279865e-01 -2.53678438e-01 -4.11249709e-03 1.21055212e+02] [ 4.28328619e-03 1.20929316e-04 9.99990819e-01 8.01166981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.438623853 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:167.51, Y:121.07, Z:0.80 [[-2.54321272e-01 -9.67119042e-01 1.20411810e-03 1.67505113e+02] [ 9.67110306e-01 -2.54324095e-01 -4.11233069e-03 1.21067166e+02] [ 4.28334957e-03 1.18661853e-04 9.99990819e-01 8.00410300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.468623853 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:167.49, Y:121.09, Z:0.80 [[-2.56817885e-01 -9.66459063e-01 1.20563337e-03 1.67494025e+02] [ 9.66450322e-01 -2.56820692e-01 -4.11188641e-03 1.21086790e+02] [ 4.28360148e-03 1.09178789e-04 9.99990819e-01 8.01456295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.498623853 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:167.49, Y:121.09, Z:0.80 [[-2.61600558e-01 -9.65175472e-01 1.20717011e-03 1.67488548e+02] [ 9.65166719e-01 -2.61603328e-01 -4.11143520e-03 1.21090941e+02] [ 4.28405613e-03 8.95666678e-05 9.99990819e-01 8.01179207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.528623853 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:167.49, Y:121.10, Z:0.80 [[-2.65170747e-01 -9.64200713e-01 1.20872484e-03 1.67485116e+02] [ 9.64191952e-01 -2.65173491e-01 -4.11097807e-03 1.21097954e+02] [ 4.28432977e-03 7.53316370e-05 9.99990819e-01 8.00059827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55862385300003 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:167.48, Y:121.12, Z:0.80 [[-2.68686758e-01 -9.63226848e-01 1.21028967e-03 1.67478598e+02] [ 9.63218080e-01 -2.68689477e-01 -4.11051733e-03 1.21115393e+02] [ 4.28455275e-03 6.13313179e-05 9.99990819e-01 7.99313060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.588623853 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:167.48, Y:121.10, Z:0.80 [[-2.75387920e-01 -9.61332422e-01 1.21187211e-03 1.67480103e+02] [ 9.61323636e-01 -2.75390585e-01 -4.11005074e-03 1.21100977e+02] [ 4.28486320e-03 3.31429756e-05 9.99990819e-01 8.00085917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61862385300003 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:167.49, Y:121.08, Z:0.80 [[-2.78769782e-01 -9.60357195e-01 1.21147528e-03 1.67485002e+02] [ 9.60348399e-01 -2.78772414e-01 -4.11016771e-03 1.21078682e+02] [ 4.28495501e-03 1.76477874e-05 9.99990819e-01 8.01153412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.648623853 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:167.49, Y:121.07, Z:0.80 [[-2.82373259e-01 -9.59303850e-01 1.21088639e-03 1.67485547e+02] [ 9.59295044e-01 -2.82375855e-01 -4.11034119e-03 1.21072946e+02] [ 4.28499121e-03 9.46872362e-07 9.99990819e-01 8.02030806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67862385300003 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:167.48, Y:121.08, Z:0.80 [[-2.88667945e-01 -9.57428508e-01 1.21243233e-03 1.67481697e+02] [ 9.57419687e-01 -2.88670491e-01 -4.10988513e-03 1.21078365e+02] [ 4.28491462e-03 -2.55855115e-05 9.99990819e-01 8.02378679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.708623853 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:167.49, Y:121.06, Z:0.80 [[-2.91178440e-01 -9.56667990e-01 1.21398164e-03 1.67485855e+02] [ 9.56659164e-01 -2.91180968e-01 -4.10942744e-03 1.21061035e+02] [ 4.28484604e-03 -3.52100152e-05 9.99990819e-01 8.01997973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73862385300004 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:167.49, Y:121.05, Z:0.80 [[-2.93554261e-01 -9.55941642e-01 1.21339996e-03 1.67488956e+02] [ 9.55932810e-01 -2.93556765e-01 -4.10959919e-03 1.21047806e+02] [ 4.28473877e-03 -4.64615239e-05 9.99990819e-01 8.01917853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.768623853 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:167.49, Y:121.05, Z:0.80 [[-2.98405092e-01 -9.54438541e-01 1.21301885e-03 1.67487164e+02] [ 9.54429696e-01 -2.98407550e-01 -4.10971168e-03 1.21051396e+02] [ 4.28444120e-03 -6.86176860e-05 9.99990819e-01 8.01553765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79862385300004 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:167.49, Y:121.05, Z:0.80 [[-3.00530456e-01 -9.53771445e-01 1.21453729e-03 1.67487553e+02] [ 9.53762596e-01 -3.00532901e-01 -4.10926289e-03 1.21050223e+02] [ 4.28430602e-03 -7.65784167e-05 9.99990819e-01 8.01903636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.828623853 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:167.49, Y:121.04, Z:0.80 [[-3.03578013e-01 -9.52805810e-01 1.21586788e-03 1.67490227e+02] [ 9.52796955e-01 -3.03580434e-01 -4.10886915e-03 1.21039495e+02] [ 4.28406810e-03 -8.88871187e-05 9.99990819e-01 8.02037630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85862385300004 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:167.49, Y:121.04, Z:0.80 [[-3.05009974e-01 -9.52348381e-01 1.21548864e-03 1.67491202e+02] [ 9.52339521e-01 -3.05012381e-01 -4.10898133e-03 1.21037439e+02] [ 4.28392080e-03 -9.57224186e-05 9.99990819e-01 8.02431579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.888623853 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:167.49, Y:121.03, Z:0.80 [[-3.06020885e-01 -9.52024023e-01 1.21548864e-03 1.67494109e+02] [ 9.52015161e-01 -3.06023283e-01 -4.10898133e-03 1.21032161e+02] [ 4.28381676e-03 -1.00270490e-04 9.99990819e-01 8.01764414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91862385300004 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:167.50, Y:121.02, Z:0.80 [[-3.06976455e-01 -9.51716333e-01 1.21530138e-03 1.67499114e+02] [ 9.51707469e-01 -3.06978843e-01 -4.10903672e-03 1.21019603e+02] [ 4.28370917e-03 -1.04766126e-04 9.99990819e-01 8.02013849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.948623853 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:167.50, Y:121.01, Z:0.80 [[-3.08044945e-01 -9.51371030e-01 1.21492805e-03 1.67502065e+02] [ 9.51362162e-01 -3.08047321e-01 -4.10914710e-03 1.21014815e+02] [ 4.28357883e-03 -1.09965414e-04 9.99990819e-01 8.03078914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97862385300004 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:167.50, Y:121.01, Z:0.80 [[-3.08155131e-01 -9.51335344e-01 1.21622313e-03 1.67504263e+02] [ 9.51326477e-01 -3.08157512e-01 -4.10876374e-03 1.21010392e+02] [ 4.28360046e-03 -1.09111368e-04 9.99990819e-01 8.03397905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.008623853 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:167.51, Y:121.01, Z:0.80 [[-3.07842700e-01 -9.51436487e-01 1.21770162e-03 1.67506150e+02] [ 9.51427623e-01 -3.07845090e-01 -4.10832552e-03 1.21008624e+02] [ 4.28367427e-03 -1.06163066e-04 9.99990819e-01 8.02946068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03862385300005 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:167.51, Y:121.00, Z:0.80 [[-3.06239836e-01 -9.51953611e-01 1.21917901e-03 1.67512173e+02] [ 9.51944752e-01 -3.06242247e-01 -4.10788705e-03 1.20995591e+02] [ 4.28388203e-03 -9.74075891e-05 9.99990819e-01 8.02899481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.068623853 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:167.51, Y:121.00, Z:0.80 [[-3.05827636e-01 -9.52086115e-01 1.21899592e-03 1.67513309e+02] [ 9.52077258e-01 -3.05830051e-01 -4.10794138e-03 1.20996353e+02] [ 4.28391953e-03 -9.57437075e-05 9.99990819e-01 8.04461095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09862385300005 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:167.51, Y:121.02, Z:0.80 [[-3.04154864e-01 -9.52621819e-01 1.22045948e-03 1.67511058e+02] [ 9.52612967e-01 -3.04157300e-01 -4.10750651e-03 1.21017899e+02] [ 4.28411198e-03 -8.66925512e-05 9.99990819e-01 8.03734790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.128623853 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:167.51, Y:121.04, Z:0.80 [[-3.03519987e-01 -9.52824288e-01 1.22193612e-03 1.67506918e+02] [ 9.52815440e-01 -3.03522435e-01 -4.10706718e-03 1.21037052e+02] [ 4.28419839e-03 -8.22973690e-05 9.99990819e-01 8.04645496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.158623853 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:167.51, Y:121.03, Z:0.80 [[-3.02594663e-01 -9.53118552e-01 1.22343625e-03 1.67511293e+02] [ 9.53109708e-01 -3.02597126e-01 -4.10662026e-03 1.21027973e+02] [ 4.28430425e-03 -7.65724043e-05 9.99990819e-01 8.04567798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.188623853 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:167.51, Y:121.03, Z:0.80 [[-3.00183111e-01 -9.53880810e-01 1.22494411e-03 1.67512911e+02] [ 9.53871974e-01 -3.00185604e-01 -4.10617044e-03 1.21034274e+02] [ 4.28450777e-03 -6.41631646e-05 9.99990819e-01 8.01913429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.218623853 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:167.51, Y:121.03, Z:0.80 [[-2.98944646e-01 -9.54269666e-01 1.22645228e-03 1.67514305e+02] [ 9.54260835e-01 -2.98947156e-01 -4.10571993e-03 1.21034641e+02] [ 4.28460840e-03 -5.70276102e-05 9.99990819e-01 8.00942048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.248623853 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:167.51, Y:121.05, Z:0.80 [[-2.97235400e-01 -9.54803440e-01 1.22796560e-03 1.67512628e+02] [ 9.54794616e-01 -2.97237932e-01 -4.10526726e-03 1.21045810e+02] [ 4.28472126e-03 -4.77758143e-05 9.99990819e-01 8.00620137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.278623853 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:167.51, Y:121.05, Z:0.80 [[-2.92985274e-01 -9.56116163e-01 1.22948727e-03 1.67514539e+02] [ 9.56107352e-01 -2.92987853e-01 -4.10481149e-03 1.21049379e+02] [ 4.28490144e-03 -2.71274982e-05 9.99990819e-01 7.99992947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30862385300003 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:167.51, Y:121.07, Z:0.80 [[-2.90828025e-01 -9.56774553e-01 1.23101912e-03 1.67509502e+02] [ 9.56765749e-01 -2.90830630e-01 -4.10435204e-03 1.21068189e+02] [ 4.28495765e-03 -1.58636628e-05 9.99990819e-01 7.99908918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.338623853 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:167.51, Y:121.08, Z:0.80 [[-2.85995234e-01 -9.58230247e-01 1.23256634e-03 1.67506368e+02] [ 9.58221459e-01 -2.85997890e-01 -4.10388735e-03 1.21080462e+02] [ 4.28498036e-03 7.37929494e-06 9.99990819e-01 8.00585702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36862385300003 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:167.51, Y:121.08, Z:0.80 [[-2.83669810e-01 -9.58921225e-01 1.23413416e-03 1.67507475e+02] [ 9.58912446e-01 -2.83672494e-01 -4.10341581e-03 1.21077981e+02] [ 4.28494243e-03 1.94114279e-05 9.99990819e-01 7.99338239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.398623853 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:167.50, Y:121.09, Z:0.80 [[-2.81642134e-01 -9.59518724e-01 1.23571044e-03 1.67504639e+02] [ 9.59509952e-01 -2.81644843e-01 -4.10294107e-03 1.21088882e+02] [ 4.28488025e-03 3.01153826e-05 9.99990819e-01 7.99580303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42862385300003 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:167.50, Y:121.11, Z:0.80 [[-2.80026304e-01 -9.59991530e-01 1.23729418e-03 1.67499372e+02] [ 9.59982765e-01 -2.80029035e-01 -4.10246342e-03 1.21107777e+02] [ 4.28480843e-03 3.89834166e-05 9.99990819e-01 8.00557344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.458623853 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:167.51, Y:121.09, Z:0.80 [[-2.77419396e-01 -9.60748117e-01 1.23889898e-03 1.67507198e+02] [ 9.60739361e-01 -2.77422157e-01 -4.10197873e-03 1.21085791e+02] [ 4.28466637e-03 5.22905528e-05 9.99990819e-01 7.99903739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48862385300004 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:167.52, Y:121.06, Z:0.80 [[-2.76597343e-01 -9.60985105e-01 1.24050469e-03 1.67515714e+02] [ 9.60976354e-01 -2.76600118e-01 -4.10149308e-03 1.21060107e+02] [ 4.28459750e-03 5.76335842e-05 9.99990819e-01 7.99116822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.518623853 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:167.52, Y:121.06, Z:0.80 [[-2.75903056e-01 -9.61184667e-01 1.24109492e-03 1.67516903e+02] [ 9.61175919e-01 -2.75905840e-01 -4.10131447e-03 1.21058021e+02] [ 4.28454592e-03 6.13453523e-05 9.99990819e-01 7.99435363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54862385300004 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:167.52, Y:121.06, Z:0.80 [[-2.76160122e-01 -9.61110838e-01 1.24265943e-03 1.67515050e+02] [ 9.61102091e-01 -2.76162911e-01 -4.10084039e-03 1.21063070e+02] [ 4.28453858e-03 6.18339916e-05 9.99990819e-01 7.99469815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.578623853 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:167.51, Y:121.06, Z:0.81 [[-2.76869488e-01 -9.60906727e-01 1.24422843e-03 1.67514644e+02] [ 9.60897981e-01 -2.76872277e-01 -4.10036428e-03 1.21061357e+02] [ 4.28455998e-03 6.03108226e-05 9.99990819e-01 8.09274139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60862385300004 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:167.52, Y:121.06, Z:0.80 [[-2.77641470e-01 -9.60683956e-01 1.24580247e-03 1.67518820e+02] [ 9.60675209e-01 -2.77644258e-01 -4.09988599e-03 1.21056868e+02] [ 4.28458459e-03 5.85131733e-05 9.99990819e-01 8.00731358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.638623853 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:167.52, Y:121.05, Z:0.80 [[-2.78520120e-01 -9.60429585e-01 1.24737502e-03 1.67521338e+02] [ 9.60420837e-01 -2.78522907e-01 -4.09940749e-03 1.21050013e+02] [ 4.28461475e-03 5.62375006e-05 9.99990819e-01 8.02427985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66862385300004 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:167.52, Y:121.05, Z:0.80 [[-2.78886810e-01 -9.60323168e-01 1.24894295e-03 1.67522140e+02] [ 9.60314422e-01 -2.78889601e-01 -4.09892974e-03 1.21047630e+02] [ 4.28461440e-03 5.62404845e-05 9.99990819e-01 8.02417203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.698623853 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:167.52, Y:121.05, Z:0.80 [[-2.80282006e-01 -9.59916889e-01 1.25050783e-03 1.67520183e+02] [ 9.59908141e-01 -2.80284791e-01 -4.09845227e-03 1.21054916e+02] [ 4.28467188e-03 5.16502239e-05 9.99990819e-01 8.02476442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72862385300004 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:167.52, Y:121.05, Z:0.80 [[-2.81278012e-01 -9.59625506e-01 1.25207826e-03 1.67520583e+02] [ 9.59616758e-01 -2.81280794e-01 -4.09797245e-03 1.21054266e+02] [ 4.28470445e-03 4.88457370e-05 9.99990819e-01 8.03904003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.758623853 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:167.52, Y:121.05, Z:0.80 [[-2.82992169e-01 -9.59121401e-01 1.25365533e-03 1.67520813e+02] [ 9.59112649e-01 -2.82994942e-01 -4.09748993e-03 1.21052949e+02] [ 4.28476840e-03 4.28391232e-05 9.99990819e-01 8.04117513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78862385300005 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:167.52, Y:121.05, Z:0.80 [[-2.84153910e-01 -9.58777858e-01 1.25523405e-03 1.67522109e+02] [ 9.58769105e-01 -2.84156679e-01 -4.09700625e-03 1.21049507e+02] [ 4.28480201e-03 3.92992874e-05 9.99990819e-01 8.04297731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.818623853 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:167.53, Y:121.04, Z:0.80 [[-2.85050693e-01 -9.58511619e-01 1.25681259e-03 1.67525876e+02] [ 9.58502865e-01 -2.85053462e-01 -4.09652195e-03 1.21038330e+02] [ 4.28482267e-03 3.69420476e-05 9.99990819e-01 8.04055703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84862385300005 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:167.52, Y:121.05, Z:0.80 [[-2.85863086e-01 -9.58269645e-01 1.25838515e-03 1.67522193e+02] [ 9.58260891e-01 -2.85865854e-01 -4.09603883e-03 1.21050336e+02] [ 4.28483902e-03 3.49549791e-05 9.99990819e-01 8.03390116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.878623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:167.53, Y:121.03, Z:0.80 [[-2.87248589e-01 -9.57855240e-01 1.25996095e-03 1.67528233e+02] [ 9.57846485e-01 -2.87251351e-01 -4.09555405e-03 1.21026133e+02] [ 4.28487339e-03 3.04070455e-05 9.99990819e-01 8.04055915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.908623853 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:167.52, Y:121.04, Z:0.81 [[-2.88199047e-01 -9.57569695e-01 1.26054850e-03 1.67523213e+02] [ 9.57560938e-01 -2.88201802e-01 -4.09537320e-03 1.21041394e+02] [ 4.28489762e-03 2.67693535e-05 9.99990819e-01 8.05573624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.938623853 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:167.53, Y:121.02, Z:0.81 [[-2.89796255e-01 -9.57087529e-01 1.26211698e-03 1.67528229e+02] [ 9.57078769e-01 -2.89799002e-01 -4.09488977e-03 1.21024534e+02] [ 4.28492817e-03 2.12616478e-05 9.99990819e-01 8.05792149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.968623853 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:167.53, Y:121.03, Z:0.81 [[-2.90478163e-01 -9.56880787e-01 1.26368762e-03 1.67526477e+02] [ 9.56872027e-01 -2.90480911e-01 -4.09440501e-03 1.21029640e+02] [ 4.28493462e-03 1.98520875e-05 9.99990819e-01 8.05648926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.998623853 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:167.53, Y:121.02, Z:0.81 [[-2.91283510e-01 -9.56635937e-01 1.26525415e-03 1.67530444e+02] [ 9.56627177e-01 -2.91286257e-01 -4.09392086e-03 1.21015691e+02] [ 4.28494297e-03 1.78848702e-05 9.99990819e-01 8.05164521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.028623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:167.53, Y:121.01, Z:0.80 [[-2.92741378e-01 -9.56190818e-01 1.26681817e-03 1.67531738e+02] [ 9.56182056e-01 -2.92744118e-01 -4.09343684e-03 1.21008223e+02] [ 4.28496029e-03 1.29904593e-05 9.99990819e-01 8.04929387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05862385300003 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:167.53, Y:121.02, Z:0.80 [[-2.93357141e-01 -9.56002081e-01 1.26837245e-03 1.67527687e+02] [ 9.55993320e-01 -2.93359882e-01 -4.09295518e-03 1.21019464e+02] [ 4.28496326e-03 1.18579601e-05 9.99990819e-01 8.04332799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.088623853 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:167.53, Y:121.02, Z:0.80 [[-2.94143296e-01 -9.55760487e-01 1.26993145e-03 1.67525632e+02] [ 9.55751725e-01 -2.94146038e-01 -4.09247141e-03 1.21024745e+02] [ 4.28496777e-03 9.96614096e-06 9.99990819e-01 8.03152709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11862385300003 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:167.53, Y:121.00, Z:0.80 [[-2.95794250e-01 -9.55250828e-01 1.27150351e-03 1.67531699e+02] [ 9.55242064e-01 -2.95796983e-01 -4.09198292e-03 1.21002705e+02] [ 4.28497698e-03 4.20861565e-06 9.99990819e-01 8.02274774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.148623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:167.54, Y:120.99, Z:0.80 [[-2.97255952e-01 -9.54796984e-01 1.27208849e-03 1.67535411e+02] [ 9.54788216e-01 -2.97258673e-01 -4.09180106e-03 1.20991145e+02] [ 4.28497865e-03 -1.73711552e-06 9.99990819e-01 8.01895997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17862385300003 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:167.54, Y:120.99, Z:0.80 [[-3.00543871e-01 -9.53767141e-01 1.27363654e-03 1.67538128e+02] [ 9.53758366e-01 -3.00546569e-01 -4.09131915e-03 1.20986363e+02] [ 4.28495286e-03 -1.48793889e-05 9.99990819e-01 8.00539026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.208623853 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:167.54, Y:120.98, Z:0.80 [[-3.02432937e-01 -9.53169813e-01 1.27517708e-03 1.67539880e+02] [ 9.53161035e-01 -3.02435625e-01 -4.09083894e-03 1.20982917e+02] [ 4.28492316e-03 -2.17553342e-05 9.99990819e-01 8.00641697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23862385300004 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:167.54, Y:120.99, Z:0.80 [[-3.04278026e-01 -9.52582413e-01 1.27671517e-03 1.67540015e+02] [ 9.52573631e-01 -3.04280703e-01 -4.09035885e-03 1.20985962e+02] [ 4.28488370e-03 -2.84411082e-05 9.99990819e-01 8.01112690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.268623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:167.55, Y:120.97, Z:0.80 [[-3.07014483e-01 -9.51703984e-01 1.27825535e-03 1.67548127e+02] [ 9.51695197e-01 -3.07017142e-01 -4.08987749e-03 1.20965863e+02] [ 4.28479900e-03 -3.91421503e-05 9.99990819e-01 8.02633638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29862385300004 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:167.55, Y:120.98, Z:0.80 [[-3.08029489e-01 -9.51375949e-01 1.27978758e-03 1.67546241e+02] [ 9.51367161e-01 -3.08032144e-01 -4.08939797e-03 1.20975481e+02] [ 4.28477059e-03 -4.21072895e-05 9.99990819e-01 8.03424161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.328623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:167.55, Y:120.98, Z:0.80 [[-3.08833196e-01 -9.51115353e-01 1.28131640e-03 1.67546772e+02] [ 9.51106565e-01 -3.08835851e-01 -4.08891890e-03 1.20977906e+02] [ 4.28474998e-03 -4.41254540e-05 9.99990819e-01 8.03519346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35862385300004 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:167.55, Y:120.96, Z:0.80 [[-3.09273386e-01 -9.50972306e-01 1.28285377e-03 1.67554831e+02] [ 9.50963519e-01 -3.09276043e-01 -4.08843650e-03 1.20961507e+02] [ 4.28474583e-03 -4.44974645e-05 9.99990819e-01 8.03574247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.388623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:167.55, Y:120.98, Z:0.80 [[-3.09538203e-01 -9.50886140e-01 1.28438546e-03 1.67550698e+02] [ 9.50877354e-01 -3.09540865e-01 -4.08795527e-03 1.20978673e+02] [ 4.28474979e-03 -4.40852789e-05 9.99990819e-01 8.03706362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41862385300004 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:167.56, Y:120.97, Z:0.80 [[-3.08956377e-01 -9.51075341e-01 1.28591922e-03 1.67557364e+02] [ 9.51066558e-01 -3.08959050e-01 -4.08747275e-03 1.20968065e+02] [ 4.28479092e-03 -3.98560087e-05 9.99990819e-01 8.02936037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.448623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:167.56, Y:120.98, Z:0.80 [[-3.08760193e-01 -9.51139047e-01 1.28745881e-03 1.67555403e+02] [ 9.51130266e-01 -3.08762875e-01 -4.08698775e-03 1.20979630e+02] [ 4.28481312e-03 -3.73580878e-05 9.99990819e-01 8.02328373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47862385300004 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:167.56, Y:120.97, Z:0.80 [[-3.08481740e-01 -9.51229391e-01 1.28900048e-03 1.67559250e+02] [ 9.51220614e-01 -3.08484432e-01 -4.08650146e-03 1.20972570e+02] [ 4.28483688e-03 -3.44872531e-05 9.99990819e-01 8.02108142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.508623853 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:167.55, Y:121.00, Z:0.80 [[-3.07725184e-01 -9.51474406e-01 1.29054704e-03 1.67552679e+02] [ 9.51465633e-01 -3.07727889e-01 -4.08601299e-03 1.20996602e+02] [ 4.28487410e-03 -2.94579485e-05 9.99990819e-01 8.03784612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53862385300005 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:167.56, Y:120.98, Z:0.80 [[-3.04660887e-01 -9.52460012e-01 1.29210570e-03 1.67560647e+02] [ 9.52451250e-01 -3.04663627e-01 -4.08552004e-03 1.20978704e+02] [ 4.28495208e-03 -1.40304721e-05 9.99990819e-01 8.00790656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.568623853 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:167.56, Y:120.99, Z:0.80 [[-3.02770561e-01 -9.53062597e-01 1.29366988e-03 1.67558547e+02] [ 9.53053843e-01 -3.02773324e-01 -4.08502469e-03 1.20987152e+02] [ 4.28497297e-03 -3.88816866e-06 9.99990819e-01 7.99737853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59862385300005 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:167.56, Y:120.99, Z:0.80 [[-2.97921529e-01 -9.54589485e-01 1.29523101e-03 1.67558024e+02] [ 9.54580747e-01 -2.97924344e-01 -4.08452965e-03 1.20988569e+02] [ 4.28492990e-03 1.95332647e-05 9.99990819e-01 8.01150860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.628623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:167.56, Y:120.97, Z:0.80 [[-2.95509306e-01 -9.55338981e-01 1.29680054e-03 1.67562607e+02] [ 9.55330252e-01 -2.95512150e-01 -4.08403127e-03 1.20973937e+02] [ 4.28485459e-03 3.20035408e-05 9.99990819e-01 8.01259702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.658623853 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:167.57, Y:120.96, Z:0.81 [[-2.93388260e-01 -9.55992491e-01 1.29836467e-03 1.67566356e+02] [ 9.55983771e-01 -2.93391130e-01 -4.08353396e-03 1.20959917e+02] [ 4.28475648e-03 4.31546287e-05 9.99990819e-01 8.05022878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.688623853 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:167.56, Y:120.97, Z:0.80 [[-2.89190848e-01 -9.57270580e-01 1.29991444e-03 1.67562451e+02] [ 9.57261875e-01 -2.89193763e-01 -4.08304056e-03 1.20965394e+02] [ 4.28450175e-03 6.35805687e-05 9.99990819e-01 8.04465086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.718623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:167.56, Y:120.96, Z:0.81 [[-2.88116977e-01 -9.57594337e-01 1.30146247e-03 1.67563332e+02] [ 9.57585637e-01 -2.88119908e-01 -4.08254706e-03 1.20959297e+02] [ 4.28440120e-03 7.00106534e-05 9.99990819e-01 8.05958059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.748623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:167.57, Y:120.94, Z:0.80 [[-2.87011985e-01 -9.57926105e-01 1.30301365e-03 1.67567341e+02] [ 9.57917411e-01 -2.87014933e-01 -4.08205192e-03 1.20941828e+02] [ 4.28428847e-03 7.65816355e-05 9.99990819e-01 8.03730298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.778623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:167.57, Y:120.94, Z:0.80 [[-2.86959062e-01 -9.57941958e-01 1.30455397e-03 1.67565590e+02] [ 9.57933266e-01 -2.86962017e-01 -4.08155960e-03 1.20944979e+02] [ 4.28425463e-03 7.84351269e-05 9.99990819e-01 8.04703312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80862385300003 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:167.56, Y:120.95, Z:0.80 [[-2.87350442e-01 -9.57824628e-01 1.30608857e-03 1.67563639e+02] [ 9.57815937e-01 -2.87353399e-01 -4.08106847e-03 1.20949482e+02] [ 4.28425688e-03 7.82956190e-05 9.99990819e-01 8.04355909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.838623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:167.56, Y:120.95, Z:0.81 [[-2.89092541e-01 -9.57300263e-01 1.30763079e-03 1.67564054e+02] [ 9.57291568e-01 -2.89095490e-01 -4.08057427e-03 1.20946133e+02] [ 4.28436498e-03 7.21203428e-05 9.99990819e-01 8.06106740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86862385300003 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:167.56, Y:120.94, Z:0.80 [[-2.90451687e-01 -9.56888762e-01 1.30917612e-03 1.67563274e+02] [ 9.56880066e-01 -2.90454629e-01 -4.08007842e-03 1.20944815e+02] [ 4.28443745e-03 6.76588704e-05 9.99990819e-01 8.04104688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.898623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:167.56, Y:120.96, Z:0.80 [[-2.94438789e-01 -9.55669441e-01 1.31072177e-03 1.67556628e+02] [ 9.55660735e-01 -2.94441702e-01 -4.07958182e-03 1.20961587e+02] [ 4.28466282e-03 5.14181980e-05 9.99990819e-01 8.04275185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92862385300003 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:167.56, Y:120.94, Z:0.81 [[-2.97357234e-01 -9.54765392e-01 1.31227978e-03 1.67562039e+02] [ 9.54756679e-01 -2.97360127e-01 -4.07908059e-03 1.20943113e+02] [ 4.28478466e-03 3.99637603e-05 9.99990819e-01 8.07098496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.958623853 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:167.56, Y:120.96, Z:0.81 [[-3.00500546e-01 -9.53780738e-01 1.31383992e-03 1.67558690e+02] [ 9.53772018e-01 -3.00503417e-01 -4.07857802e-03 1.20958755e+02] [ 4.28488254e-03 2.74888268e-05 9.99990819e-01 8.05700371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98862385300004 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:167.57, Y:120.94, Z:0.80 [[-3.06365263e-01 -9.51913124e-01 1.31540039e-03 1.67565561e+02] [ 9.51904388e-01 -3.06368087e-01 -4.07807468e-03 1.20942250e+02] [ 4.28496951e-03 2.75497706e-06 9.99990819e-01 8.04659505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.018623853 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:167.57, Y:120.94, Z:0.81 [[-3.09177610e-01 -9.51003402e-01 1.31696299e-03 1.67568105e+02] [ 9.50994661e-01 -3.09180415e-01 -4.07757000e-03 1.20936927e+02] [ 4.28496210e-03 -8.26857136e-06 9.99990819e-01 8.05023703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04862385300004 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:167.57, Y:120.92, Z:0.81 [[-3.13251754e-01 -9.49669206e-01 1.31851457e-03 1.67574765e+02] [ 9.49660454e-01 -3.13254527e-01 -4.07706822e-03 1.20921763e+02] [ 4.28489680e-03 -2.50076195e-05 9.99990819e-01 8.05147017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.078623853 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:167.57, Y:120.94, Z:0.81 [[-3.14875555e-01 -9.49132047e-01 1.32005630e-03 1.67569603e+02] [ 9.49123293e-01 -3.14878321e-01 -4.07656898e-03 1.20941085e+02] [ 4.28485937e-03 -3.07157443e-05 9.99990819e-01 8.05607489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10862385300004 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:167.57, Y:120.94, Z:0.81 [[-3.16062095e-01 -9.48737585e-01 1.32160239e-03 1.67570744e+02] [ 9.48728830e-01 -3.16064856e-01 -4.07606769e-03 1.20940545e+02] [ 4.28483068e-03 -3.44482027e-05 9.99990819e-01 8.06297879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.138623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:167.57, Y:120.94, Z:0.80 [[-3.16582547e-01 -9.48564041e-01 1.32316190e-03 1.67573813e+02] [ 9.48555286e-01 -3.16585311e-01 -4.07556138e-03 1.20935016e+02] [ 4.28482459e-03 -3.51593922e-05 9.99990819e-01 8.03989905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16862385300004 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:167.58, Y:120.92, Z:0.81 [[-3.16118374e-01 -9.48718830e-01 1.32471993e-03 1.67581913e+02] [ 9.48710079e-01 -3.16121148e-01 -4.07505490e-03 1.20915543e+02] [ 4.28485330e-03 -3.14245784e-05 9.99990819e-01 8.05176000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.198623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:167.58, Y:120.92, Z:0.80 [[-3.15395844e-01 -9.48959273e-01 1.32626545e-03 1.67581120e+02] [ 9.48950526e-01 -3.15398632e-01 -4.07455183e-03 1.20918901e+02] [ 4.28488605e-03 -2.65364202e-05 9.99990819e-01 8.04689412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22862385300004 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:167.58, Y:120.93, Z:0.80 [[-3.14299574e-01 -9.49322925e-01 1.32780344e-03 1.67578059e+02] [ 9.49314183e-01 -3.14302378e-01 -4.07405057e-03 1.20927338e+02] [ 4.28492138e-03 -1.99697211e-05 9.99990819e-01 8.04317837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.258623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:167.58, Y:120.92, Z:0.80 [[-3.10594249e-01 -9.50541659e-01 1.32935138e-03 1.67580498e+02] [ 9.50532930e-01 -3.10597094e-01 -4.07354542e-03 1.20918716e+02] [ 4.28496730e-03 -1.62751869e-06 9.99990819e-01 8.03600212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28862385300005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.57, Y:120.94, Z:0.80 [[-3.08767355e-01 -9.51136662e-01 1.33090194e-03 1.67573052e+02] [ 9.51127941e-01 -3.08770224e-01 -4.07303876e-03 1.20939565e+02] [ 4.28495938e-03 8.23661718e-06 9.99990819e-01 8.04350693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.318623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.58, Y:120.92, Z:0.81 [[-3.06682987e-01 -9.51810785e-01 1.33246262e-03 1.67577323e+02] [ 9.51802072e-01 -3.06685881e-01 -4.07252813e-03 1.20924064e+02] [ 4.28492367e-03 1.92655892e-05 9.99990819e-01 8.05028951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34862385300005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.57, Y:120.94, Z:0.81 [[-3.02008639e-01 -9.53304255e-01 1.33402936e-03 1.67571816e+02] [ 9.53295559e-01 -3.02011583e-01 -4.07201486e-03 1.20935081e+02] [ 4.28476141e-03 4.19405959e-05 9.99990820e-01 8.05497843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.378623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.57, Y:120.93, Z:0.81 [[-3.00205053e-01 -9.53873756e-01 1.33559642e-03 1.67573015e+02] [ 9.53865068e-01 -3.00208020e-01 -4.07150080e-03 1.20927550e+02] [ 4.28465452e-03 5.16936595e-05 9.99990820e-01 8.05950901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.408623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:167.58, Y:120.89, Z:0.81 [[-2.96068789e-01 -9.55165684e-01 1.33716907e-03 1.67580856e+02] [ 9.55157012e-01 -2.96071799e-01 -4.07098424e-03 1.20893893e+02] [ 4.28436251e-03 7.19150431e-05 9.99990820e-01 8.05924754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.438623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:167.58, Y:120.89, Z:0.81 [[-2.94939551e-01 -9.55514977e-01 1.33774894e-03 1.67581074e+02] [ 9.55506309e-01 -2.94942575e-01 -4.07079369e-03 1.20888851e+02] [ 4.28426346e-03 7.75894895e-05 9.99990820e-01 8.05859459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.468623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:167.58, Y:120.89, Z:0.81 [[-2.94064495e-01 -9.55784641e-01 1.33928124e-03 1.67580765e+02] [ 9.55775977e-01 -2.94067533e-01 -4.07028950e-03 1.20886543e+02] [ 4.28415932e-03 8.31252031e-05 9.99990820e-01 8.06253907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.498623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:167.58, Y:120.88, Z:0.81 [[-2.93090242e-01 -9.56083842e-01 1.34081210e-03 1.67581110e+02] [ 9.56075184e-01 -2.93093295e-01 -4.06978515e-03 1.20876460e+02] [ 4.28403886e-03 8.91028594e-05 9.99990820e-01 8.06237305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.528623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:167.58, Y:120.87, Z:0.81 [[-2.93448096e-01 -9.55974065e-01 1.34233903e-03 1.67581967e+02] [ 9.55965408e-01 -2.93451152e-01 -4.06928146e-03 1.20874096e+02] [ 4.28403848e-03 8.91067783e-05 9.99990820e-01 8.06226522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55862385300003 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:167.58, Y:120.88, Z:0.81 [[-2.93734870e-01 -9.55885987e-01 1.34386204e-03 1.67578501e+02] [ 9.55877332e-01 -2.93737930e-01 -4.06877843e-03 1.20879983e+02] [ 4.28403154e-03 8.94251537e-05 9.99990820e-01 8.06565641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.588623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:167.57, Y:120.89, Z:0.81 [[-2.94659718e-01 -9.55601298e-01 1.34538959e-03 1.67573634e+02] [ 9.55592642e-01 -2.94662777e-01 -4.06827327e-03 1.20885875e+02] [ 4.28408345e-03 8.68881359e-05 9.99990820e-01 8.07426791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61862385300003 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:167.58, Y:120.88, Z:0.81 [[-2.95653407e-01 -9.55294326e-01 1.34692747e-03 1.67575020e+02] [ 9.55285669e-01 -2.95656463e-01 -4.06776404e-03 1.20876548e+02] [ 4.28413972e-03 8.40522124e-05 9.99990820e-01 8.06616498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.648623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:167.58, Y:120.87, Z:0.81 [[-2.96678722e-01 -9.54976396e-01 1.34846692e-03 1.67575379e+02] [ 9.54967738e-01 -2.96681776e-01 -4.06725365e-03 1.20869243e+02] [ 4.28419679e-03 8.10747919e-05 9.99990820e-01 8.06612287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67862385300003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:167.57, Y:120.88, Z:0.81 [[-2.97579504e-01 -9.54696086e-01 1.35000013e-03 1.67568581e+02] [ 9.54687427e-01 -2.97582556e-01 -4.06674468e-03 1.20883658e+02] [ 4.28424172e-03 7.86482867e-05 9.99990820e-01 8.05335627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.708623853 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:167.57, Y:120.87, Z:0.80 [[-2.99041397e-01 -9.54239182e-01 1.35154022e-03 1.67571214e+02] [ 9.54230521e-01 -2.99044443e-01 -4.06623279e-03 1.20866825e+02] [ 4.28432924e-03 7.37089916e-05 9.99990820e-01 8.03522987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73862385300004 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:167.57, Y:120.88, Z:0.80 [[-3.00287775e-01 -9.53847693e-01 1.35308239e-03 1.67565849e+02] [ 9.53839031e-01 -3.00290815e-01 -4.06571955e-03 1.20878156e+02] [ 4.28439542e-03 6.97369160e-05 9.99990820e-01 8.02334620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.768623853 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:167.57, Y:120.87, Z:0.80 [[-3.02355417e-01 -9.53194296e-01 1.35462487e-03 1.67566832e+02] [ 9.53185630e-01 -3.02358445e-01 -4.06520556e-03 1.20867666e+02] [ 4.28451302e-03 6.20720404e-05 9.99990820e-01 8.01437987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79862385300004 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:167.56, Y:120.87, Z:0.80 [[-3.03869902e-01 -9.52712571e-01 1.35617123e-03 1.67564870e+02] [ 9.52703902e-01 -3.03872923e-01 -4.06468962e-03 1.20870936e+02] [ 4.28458461e-03 5.68927855e-05 9.99990820e-01 8.00965214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.828623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:167.56, Y:120.89, Z:0.80 [[-3.07143524e-01 -9.51662236e-01 1.35771663e-03 1.67556038e+02] [ 9.51653559e-01 -3.07146522e-01 -4.06417335e-03 1.20891461e+02] [ 4.28473824e-03 4.37913415e-05 9.99990820e-01 7.96958330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85862385300004 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:167.55, Y:120.89, Z:0.80 [[-3.09289296e-01 -9.50967026e-01 1.35927963e-03 1.67554262e+02] [ 9.50958344e-01 -3.09292281e-01 -4.06365053e-03 1.20892761e+02] [ 4.28481235e-03 3.57746916e-05 9.99990820e-01 7.99030980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.888623853 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:167.56, Y:120.88, Z:0.80 [[-3.11627724e-01 -9.50203299e-01 1.36085905e-03 1.67557095e+02] [ 9.50194613e-01 -3.11630694e-01 -4.06312153e-03 1.20881588e+02] [ 4.28487694e-03 2.68996191e-05 9.99990820e-01 7.98216165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91862385300004 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:167.56, Y:120.88, Z:0.80 [[-3.16019693e-01 -9.48751652e-01 1.36243533e-03 1.67557198e+02] [ 9.48742954e-01 -3.16022630e-01 -4.06259291e-03 1.20879475e+02] [ 4.28495213e-03 8.74155668e-06 9.99990820e-01 8.00226832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.948623853 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:167.56, Y:120.87, Z:0.80 [[-3.17850681e-01 -9.48139802e-01 1.36400690e-03 1.67560054e+02] [ 9.48131101e-01 -3.17853608e-01 -4.06206519e-03 1.20868629e+02] [ 4.28496020e-03 2.12718178e-06 9.99990820e-01 8.00631519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97862385300004 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:167.57, Y:120.84, Z:0.80 [[-3.19957261e-01 -9.47430995e-01 1.36420199e-03 1.67570679e+02] [ 9.47422287e-01 -3.19960170e-01 -4.06199967e-03 1.20836394e+02] [ 4.28495469e-03 -7.19092423e-06 9.99990820e-01 8.00304986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.008623853 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:167.56, Y:120.86, Z:0.81 [[-3.20843172e-01 -9.47131354e-01 1.36266422e-03 1.67562603e+02] [ 9.47122642e-01 -3.20846065e-01 -4.06251548e-03 1.20856333e+02] [ 4.28494124e-03 -1.28202152e-05 9.99990820e-01 8.06031820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03862385300005 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:167.57, Y:120.84, Z:0.80 [[-3.21422959e-01 -9.46934750e-01 1.36419665e-03 1.67569686e+02] [ 9.46926038e-01 -3.21425853e-01 -4.06200082e-03 1.20840621e+02] [ 4.28493780e-03 -1.38269901e-05 9.99990820e-01 7.99838359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.068623853 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:167.57, Y:120.85, Z:0.80 [[-3.21924649e-01 -9.46764311e-01 1.36381247e-03 1.67566261e+02] [ 9.46755597e-01 -3.21927538e-01 -4.06212980e-03 1.20849822e+02] [ 4.28492831e-03 -1.65026257e-05 9.99990820e-01 7.99965778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09862385300005 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:167.56, Y:120.85, Z:0.80 [[-3.22203647e-01 -9.46669396e-01 1.36534374e-03 1.67564783e+02] [ 9.46660683e-01 -3.22206540e-01 -4.06161505e-03 1.20851395e+02] [ 4.28492935e-03 -1.61499428e-05 9.99990820e-01 8.00913660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.128623853 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:167.57, Y:120.84, Z:0.80 [[-3.22221717e-01 -9.46663243e-01 1.36688416e-03 1.67568055e+02] [ 9.46654533e-01 -3.22224616e-01 -4.06109658e-03 1.20841499e+02] [ 4.28493458e-03 -1.46064299e-05 9.99990820e-01 8.01699800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.158623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:167.56, Y:120.86, Z:0.80 [[-3.23039939e-01 -9.46384345e-01 1.36688416e-03 1.67564216e+02] [ 9.46375632e-01 -3.23042831e-01 -4.06109658e-03 1.20856635e+02] [ 4.28492036e-03 -1.83105323e-05 9.99990820e-01 8.01507356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.188623853 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:167.57, Y:120.83, Z:0.80 [[-3.23350330e-01 -9.46278337e-01 1.36842540e-03 1.67573617e+02] [ 9.46269625e-01 -3.23353226e-01 -4.06057718e-03 1.20830247e+02] [ 4.28492099e-03 -1.80895825e-05 9.99990820e-01 8.00703661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.218623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:167.56, Y:120.86, Z:0.80 [[-3.24108106e-01 -9.46019062e-01 1.36784710e-03 1.67564739e+02] [ 9.46010346e-01 -3.24110991e-01 -4.06077197e-03 1.20859080e+02] [ 4.28490197e-03 -2.21316056e-05 9.99990820e-01 8.01321697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.248623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:167.57, Y:120.85, Z:0.80 [[-3.25096029e-01 -9.45680018e-01 1.36938265e-03 1.67569869e+02] [ 9.45671302e-01 -3.25098912e-01 -4.06025409e-03 1.20846413e+02] [ 4.28488597e-03 -2.49866056e-05 9.99990820e-01 8.00471126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.278623853 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:167.57, Y:120.84, Z:0.80 [[-3.25777796e-01 -9.45445373e-01 1.36938265e-03 1.67571835e+02] [ 9.45436654e-01 -3.25780673e-01 -4.06025409e-03 1.20842680e+02] [ 4.28486684e-03 -2.80760762e-05 9.99990820e-01 7.99793930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30862385300003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:167.58, Y:120.82, Z:0.80 [[-3.25340006e-01 -9.45596109e-01 1.37091976e-03 1.67579340e+02] [ 9.45587394e-01 -3.25342894e-01 -4.05973502e-03 1.20824400e+02] [ 4.28488864e-03 -2.44697702e-05 9.99990820e-01 8.00844766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.338623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:167.57, Y:120.85, Z:0.80 [[-3.25317557e-01 -9.45603833e-01 1.37072986e-03 1.67571024e+02] [ 9.45595118e-01 -3.25320444e-01 -4.05979914e-03 1.20849533e+02] [ 4.28488807e-03 -2.45684705e-05 9.99990820e-01 8.01889669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36862385300003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:167.58, Y:120.82, Z:0.80 [[-3.24931233e-01 -9.45736650e-01 1.37225952e-03 1.67580306e+02] [ 9.45727938e-01 -3.24934130e-01 -4.05928203e-03 1.20823045e+02] [ 4.28490574e-03 -2.12033441e-05 9.99990820e-01 8.01144130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.398623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:167.58, Y:120.84, Z:0.80 [[-3.24222674e-01 -9.45979797e-01 1.37168318e-03 1.67577257e+02] [ 9.45971087e-01 -3.24225576e-01 -4.05947678e-03 1.20838088e+02] [ 4.28491778e-03 -1.86017894e-05 9.99990820e-01 8.00427600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42862385300003 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:167.58, Y:120.84, Z:0.80 [[-3.24029382e-01 -9.46046021e-01 1.37320451e-03 1.67575605e+02] [ 9.46037314e-01 -3.24032292e-01 -4.05896209e-03 1.20844887e+02] [ 4.28492754e-03 -1.61202764e-05 9.99990820e-01 7.99976941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.458623853 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:167.58, Y:120.84, Z:0.80 [[-3.23750795e-01 -9.46141392e-01 1.37474062e-03 1.67578895e+02] [ 9.46132687e-01 -3.23753714e-01 -4.05844175e-03 1.20836693e+02] [ 4.28493711e-03 -1.32367042e-05 9.99990820e-01 8.00405271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48862385300004 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:167.58, Y:120.84, Z:0.80 [[-3.22754291e-01 -9.46481787e-01 1.37627881e-03 1.67579692e+02] [ 9.46473088e-01 -3.22757225e-01 -4.05792006e-03 1.20836802e+02] [ 4.28495136e-03 -7.10025173e-06 9.99990820e-01 8.00687697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.518623853 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:167.58, Y:120.83, Z:0.80 [[-3.22332262e-01 -9.46625594e-01 1.37781454e-03 1.67580641e+02] [ 9.46616898e-01 -3.22335207e-01 -4.05739856e-03 1.20834894e+02] [ 4.28495545e-03 -3.56793177e-06 9.99990820e-01 8.00745688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54862385300004 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:167.58, Y:120.84, Z:0.80 [[-3.21343889e-01 -9.46961563e-01 1.37935108e-03 1.67580058e+02] [ 9.46952873e-01 -3.21346849e-01 -4.05687613e-03 1.20838380e+02] [ 4.28495589e-03 2.52811320e-06 9.99990820e-01 8.00988163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.578623853 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:167.58, Y:120.85, Z:0.80 [[-3.20986436e-01 -9.47082785e-01 1.38089146e-03 1.67577980e+02] [ 9.47074098e-01 -3.20989406e-01 -4.05635174e-03 1.20847752e+02] [ 4.28495243e-03 5.77264767e-06 9.99990820e-01 8.01094175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60862385300004 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:167.58, Y:120.84, Z:0.80 [[-3.20603744e-01 -9.47212399e-01 1.38244162e-03 1.67582442e+02] [ 9.47203716e-01 -3.20606724e-01 -4.05582336e-03 1.20837066e+02] [ 4.28494626e-03 9.14168512e-06 9.99990820e-01 8.00882696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.638623853 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:167.58, Y:120.85, Z:0.80 [[-3.20138277e-01 -9.47369816e-01 1.38399337e-03 1.67578880e+02] [ 9.47361137e-01 -3.20141268e-01 -4.05529378e-03 1.20848364e+02] [ 4.28493632e-03 1.28867731e-05 9.99990820e-01 8.00258885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66862385300004 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:167.58, Y:120.84, Z:0.80 [[-3.20037324e-01 -9.47403922e-01 1.38554776e-03 1.67578779e+02] [ 9.47395245e-01 -3.20040323e-01 -4.05476263e-03 1.20844217e+02] [ 4.28492917e-03 1.49859785e-05 9.99990820e-01 8.04926795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.698623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:167.58, Y:120.84, Z:0.80 [[-3.20588798e-01 -9.47217451e-01 1.38710923e-03 1.67582084e+02] [ 9.47208774e-01 -3.20591798e-01 -4.05422839e-03 1.20840044e+02] [ 4.28493173e-03 1.41418296e-05 9.99990820e-01 7.97268212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72862385300004 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:167.59, Y:120.83, Z:0.80 [[-3.21343875e-01 -9.46961555e-01 1.38866840e-03 1.67587392e+02] [ 9.46952878e-01 -3.21346875e-01 -4.05369427e-03 1.20827470e+02] [ 4.28493688e-03 1.23737103e-05 9.99990820e-01 7.96749564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.758623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:167.59, Y:120.82, Z:0.80 [[-3.22175877e-01 -9.46678811e-01 1.39021985e-03 1.67589624e+02] [ 9.46670135e-01 -3.22178876e-01 -4.05316213e-03 1.20821805e+02] [ 4.28494218e-03 1.02485537e-05 9.99990820e-01 7.97257385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78862385300005 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:167.59, Y:120.82, Z:0.80 [[-3.23187737e-01 -9.46333847e-01 1.39176265e-03 1.67588857e+02] [ 9.46325169e-01 -3.23190733e-01 -4.05263230e-03 1.20824300e+02] [ 4.28494790e-03 7.29896139e-06 9.99990820e-01 7.98601950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.818623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:167.59, Y:120.82, Z:0.80 [[-3.24737249e-01 -9.45803245e-01 1.39330627e-03 1.67591443e+02] [ 9.45794565e-01 -3.24740238e-01 -4.05210153e-03 1.20818775e+02] [ 4.28495338e-03 1.91319094e-06 9.99990820e-01 7.98256230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84862385300005 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:167.59, Y:120.82, Z:0.80 [[-3.25584927e-01 -9.45511772e-01 1.39485043e-03 1.67592591e+02] [ 9.45503091e-01 -3.25587914e-01 -4.05156991e-03 1.20817956e+02] [ 4.28495349e-03 -2.94696588e-07 9.99990820e-01 7.97920384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.878623853 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:167.60, Y:120.80, Z:0.80 [[-3.27065138e-01 -9.45000765e-01 1.39639313e-03 1.67598386e+02] [ 9.44992082e-01 -3.27068119e-01 -4.05103814e-03 1.20804445e+02] [ 4.28494982e-03 -5.37289525e-06 9.99990820e-01 7.98305707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.908623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:167.60, Y:120.80, Z:0.80 [[-3.27913475e-01 -9.44706726e-01 1.39792953e-03 1.67600015e+02] [ 9.44698043e-01 -3.27916454e-01 -4.05050790e-03 1.20799971e+02] [ 4.28494615e-03 -7.59482546e-06 9.99990820e-01 7.98675495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.938623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.60, Y:120.79, Z:0.80 [[-3.28781105e-01 -9.44405118e-01 1.39945793e-03 1.67602220e+02] [ 9.44396434e-01 -3.28784084e-01 -4.04997976e-03 1.20793713e+02] [ 4.28494111e-03 -9.91374179e-06 9.99990820e-01 8.00686060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.968623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.60, Y:120.80, Z:0.80 [[-3.29648449e-01 -9.44102715e-01 1.40098238e-03 1.67599193e+02] [ 9.44094031e-01 -3.29651426e-01 -4.04945235e-03 1.20803971e+02] [ 4.28493480e-03 -1.22365820e-05 9.99990820e-01 8.01103335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.998623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:167.61, Y:120.79, Z:0.80 [[-3.31526689e-01 -9.43444798e-01 1.40251213e-03 1.67606308e+02] [ 9.43436110e-01 -3.31529655e-01 -4.04892246e-03 1.20789184e+02] [ 4.28490919e-03 -1.91452669e-05 9.99990820e-01 8.00443475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.028623853 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:167.61, Y:120.78, Z:0.80 [[-3.32902251e-01 -9.42960296e-01 1.40404118e-03 1.67611622e+02] [ 9.42951606e-01 -3.32905211e-01 -4.04839216e-03 1.20777502e+02] [ 4.28488570e-03 -2.37759819e-05 9.99990820e-01 7.99959174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.61, Y:120.77, Z:0.80 [[-3.34724525e-01 -9.42314977e-01 1.40555685e-03 1.67614927e+02] [ 9.42306284e-01 -3.34727475e-01 -4.04786587e-03 1.20772142e+02] [ 4.28484313e-03 -3.04549259e-05 9.99990820e-01 7.99803159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.088623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:167.61, Y:120.79, Z:0.80 [[-3.38649849e-01 -9.40911420e-01 1.40706474e-03 1.67614679e+02] [ 9.40902716e-01 -3.38652769e-01 -4.04734165e-03 1.20785958e+02] [ 4.28469635e-03 -4.67206020e-05 9.99990820e-01 7.98670978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11862385300003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:167.62, Y:120.77, Z:0.80 [[-3.40789338e-01 -9.40138630e-01 1.40857881e-03 1.67621561e+02] [ 9.40129921e-01 -3.40792245e-01 -4.04681465e-03 1.20773046e+02] [ 4.28459951e-03 -5.48642036e-05 9.99990820e-01 8.01226459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.148623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.63, Y:120.76, Z:0.80 [[-3.43800372e-01 -9.39041701e-01 1.41009489e-03 1.67631629e+02] [ 9.39032986e-01 -3.43803257e-01 -4.04628631e-03 1.20756660e+02] [ 4.28442679e-03 -6.69891267e-05 9.99990820e-01 8.02323507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.63, Y:120.76, Z:0.80 [[-3.45086817e-01 -9.38569708e-01 1.41159587e-03 1.67634695e+02] [ 9.38560991e-01 -3.45089696e-01 -4.04576260e-03 1.20756631e+02] [ 4.28435741e-03 -7.12705219e-05 9.99990820e-01 8.02482054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.208623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.64, Y:120.75, Z:0.80 [[-3.46454836e-01 -9.38065589e-01 1.41308872e-03 1.67639965e+02] [ 9.38056870e-01 -3.46457710e-01 -4.04524112e-03 1.20750124e+02] [ 4.28427697e-03 -7.59357658e-05 9.99990820e-01 8.00682515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23862385300004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.65, Y:120.75, Z:0.80 [[-3.47662396e-01 -9.37618717e-01 1.41457924e-03 1.67647122e+02] [ 9.37609996e-01 -3.47665264e-01 -4.04471983e-03 1.20747779e+02] [ 4.28420508e-03 -7.98733539e-05 9.99990820e-01 7.99726955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.268623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:167.65, Y:120.76, Z:0.80 [[-3.47712182e-01 -9.37600253e-01 1.41606529e-03 1.67645332e+02] [ 9.37591534e-01 -3.47715056e-01 -4.04419949e-03 1.20761036e+02] [ 4.28422969e-03 -7.85266034e-05 9.99990820e-01 8.01383867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29862385300004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.65, Y:120.76, Z:0.80 [[-3.47741299e-01 -9.37589452e-01 1.41755853e-03 1.67649211e+02] [ 9.37580735e-01 -3.47744180e-01 -4.04367602e-03 1.20758517e+02] [ 4.28425571e-03 -7.70775848e-05 9.99990820e-01 8.00043272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.328623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:167.65, Y:120.77, Z:0.80 [[-3.46965696e-01 -9.37876747e-01 1.41905903e-03 1.67653003e+02] [ 9.37868035e-01 -3.46968591e-01 -4.04314938e-03 1.20765812e+02] [ 4.28434470e-03 -7.19440370e-05 9.99990820e-01 7.99915664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.66, Y:120.76, Z:0.80 [[-3.46457081e-01 -9.38064749e-01 1.42056297e-03 1.67656746e+02] [ 9.38056040e-01 -3.46459987e-01 -4.04262090e-03 1.20763306e+02] [ 4.28440839e-03 -6.80269594e-05 9.99990820e-01 7.98579241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.388623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.66, Y:120.77, Z:0.80 [[-3.44592329e-01 -9.38751354e-01 1.42207060e-03 1.67660411e+02] [ 9.38742653e-01 -3.44595259e-01 -4.04209049e-03 1.20768806e+02] [ 4.28455671e-03 -5.79150455e-05 9.99990820e-01 7.98558674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41862385300004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.66, Y:120.78, Z:0.80 [[-3.43934787e-01 -9.38992458e-01 1.42358122e-03 1.67658153e+02] [ 9.38983762e-01 -3.43937729e-01 -4.04155840e-03 1.20783111e+02] [ 4.28461614e-03 -5.33128787e-05 9.99990820e-01 7.97584491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.448623853 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:167.66, Y:120.78, Z:0.80 [[-3.42906185e-01 -9.39368574e-01 1.42510400e-03 1.67663086e+02] [ 9.39359883e-01 -3.42909144e-01 -4.04102138e-03 1.20778396e+02] [ 4.28468968e-03 -4.70057013e-05 9.99990820e-01 7.97249486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47862385300004 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:167.66, Y:120.78, Z:0.80 [[-3.43261301e-01 -9.39238864e-01 1.42663382e-03 1.67663986e+02] [ 9.39230174e-01 -3.43264263e-01 -4.04048122e-03 1.20776066e+02] [ 4.28468940e-03 -4.70033056e-05 9.99990820e-01 7.97238706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.508623853 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:167.67, Y:120.79, Z:0.80 [[-3.40362134e-01 -9.40293347e-01 1.42816119e-03 1.67665483e+02] [ 9.40284669e-01 -3.40365128e-01 -4.03994128e-03 1.20786464e+02] [ 4.28482617e-03 -3.21649643e-05 9.99990820e-01 7.98480560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53862385300005 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:167.67, Y:120.79, Z:0.80 [[-3.38529679e-01 -9.40954628e-01 1.42969513e-03 1.67666050e+02] [ 9.40945958e-01 -3.38532697e-01 -4.03939836e-03 1.20790179e+02] [ 4.28488913e-03 -2.21903717e-05 9.99990820e-01 8.00403248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.568623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:167.67, Y:120.80, Z:0.80 [[-3.33330518e-01 -9.42808951e-01 1.43123881e-03 1.67667014e+02] [ 9.42800300e-01 -3.33333590e-01 -4.03885133e-03 1.20796459e+02] [ 4.28494515e-03 3.09997154e-06 9.99990820e-01 8.01660681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59862385300005 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:167.67, Y:120.79, Z:0.80 [[-3.30786557e-01 -9.43704509e-01 1.43279024e-03 1.67671148e+02] [ 9.43695869e-01 -3.30789660e-01 -4.03830088e-03 1.20789616e+02] [ 4.28491495e-03 1.63025893e-05 9.99990820e-01 8.00273543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.628623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:167.68, Y:120.76, Z:0.80 [[-3.28417178e-01 -9.44531683e-01 1.43434328e-03 1.67683035e+02] [ 9.44523053e-01 -3.28420309e-01 -4.03774919e-03 1.20760879e+02] [ 4.28484950e-03 2.87040978e-05 9.99990820e-01 8.00290223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.658623853 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:167.69, Y:120.76, Z:0.80 [[-3.24065780e-01 -9.46033461e-01 1.43587690e-03 1.67685566e+02] [ 9.46024848e-01 -3.24068957e-01 -4.03720374e-03 1.20758908e+02] [ 4.28465295e-03 5.00556463e-05 9.99990820e-01 7.99341699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.688623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.69, Y:120.75, Z:0.80 [[-3.22799768e-01 -9.46466187e-01 1.43739430e-03 1.67689656e+02] [ 9.46457581e-01 -3.22802963e-01 -4.03666341e-03 1.20749751e+02] [ 4.28456057e-03 5.73987228e-05 9.99990820e-01 7.98748139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.718623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:167.69, Y:120.75, Z:0.80 [[-3.22048585e-01 -9.46722049e-01 1.43890707e-03 1.67690876e+02] [ 9.46713448e-01 -3.22051794e-01 -4.03612410e-03 1.20748939e+02] [ 4.28449028e-03 6.24046181e-05 9.99990820e-01 7.97640164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.748623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:167.70, Y:120.73, Z:0.80 [[-3.22068459e-01 -9.46715286e-01 1.44041644e-03 1.67700189e+02] [ 9.46706687e-01 -3.22071674e-01 -4.03558536e-03 1.20731163e+02] [ 4.28446769e-03 6.39171180e-05 9.99990820e-01 7.96747420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.778623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.70, Y:120.74, Z:0.80 [[-3.23064790e-01 -9.46375751e-01 1.44191708e-03 1.67699000e+02] [ 9.46367151e-01 -3.23068002e-01 -4.03504911e-03 1.20737376e+02] [ 4.28450991e-03 6.10006637e-05 9.99990820e-01 7.97733137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.70, Y:120.75, Z:0.80 [[-3.25503962e-01 -9.45539575e-01 1.44341269e-03 1.67699058e+02] [ 9.45530969e-01 -3.25507158e-01 -4.03451403e-03 1.20747134e+02] [ 4.28463385e-03 5.15410995e-05 9.99990820e-01 7.97070164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.838623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:167.70, Y:120.76, Z:0.80 [[-3.27235018e-01 -9.44941879e-01 1.44491926e-03 1.67697813e+02] [ 9.44933270e-01 -3.27238205e-01 -4.03397440e-03 1.20756815e+02] [ 4.28470414e-03 4.52945970e-05 9.99990820e-01 7.97787097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86862385300003 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:167.70, Y:120.74, Z:0.80 [[-3.28891526e-01 -9.44366598e-01 1.44643818e-03 1.67704518e+02] [ 9.44357986e-01 -3.28894704e-01 -4.03342970e-03 1.20743150e+02] [ 4.28476214e-03 3.93945986e-05 9.99990820e-01 7.98609696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.898623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.70, Y:120.76, Z:0.80 [[-3.30427830e-01 -9.43830150e-01 1.44795689e-03 1.67700979e+02] [ 9.43821535e-01 -3.30431001e-01 -4.03288442e-03 1.20757769e+02] [ 4.28480776e-03 3.40356479e-05 9.99990820e-01 7.98774632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.71, Y:120.74, Z:0.80 [[-3.33302281e-01 -9.42818905e-01 1.44947813e-03 1.67708569e+02] [ 9.42810283e-01 -3.33305432e-01 -4.03233759e-03 1.20744670e+02] [ 4.28488305e-03 2.25955702e-05 9.99990820e-01 8.00040203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.958623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.71, Y:120.75, Z:0.80 [[-3.34856669e-01 -9.42267959e-01 1.45100191e-03 1.67709569e+02] [ 9.42259333e-01 -3.34859813e-01 -4.03178920e-03 1.20747394e+02] [ 4.28490801e-03 1.71485914e-05 9.99990820e-01 8.00432382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98862385300004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.71, Y:120.75, Z:0.80 [[-3.36178771e-01 -9.41797072e-01 1.45252101e-03 1.67709282e+02] [ 9.41788444e-01 -3.36181909e-01 -4.03124184e-03 1.20754037e+02] [ 4.28492305e-03 1.27495682e-05 9.99990820e-01 8.00584100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.018623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.71, Y:120.75, Z:0.80 [[-3.38352778e-01 -9.41018216e-01 1.45404712e-03 1.67713471e+02] [ 9.41009584e-01 -3.38355902e-01 -4.03069131e-03 1.20753160e+02] [ 4.28493937e-03 4.47667819e-06 9.99990820e-01 8.00740913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04862385300004 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:167.72, Y:120.74, Z:0.80 [[-3.39629753e-01 -9.40558085e-01 1.45557806e-03 1.67718487e+02] [ 9.40549451e-01 -3.39632872e-01 -4.03013837e-03 1.20744174e+02] [ 4.28494139e-03 2.88246624e-07 9.99990820e-01 8.00218360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.078623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.72, Y:120.76, Z:0.80 [[-3.41749740e-01 -9.39789866e-01 1.45710477e-03 1.67717988e+02] [ 9.39781227e-01 -3.41752847e-01 -4.02958631e-03 1.20757635e+02] [ 4.28493408e-03 -7.75036507e-06 9.99990820e-01 8.00183434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10862385300004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:167.72, Y:120.76, Z:0.80 [[-3.42703019e-01 -9.39442661e-01 1.45863580e-03 1.67721121e+02] [ 9.39434021e-01 -3.42706123e-01 -4.02903203e-03 1.20755447e+02] [ 4.28492799e-03 -1.04693464e-05 9.99990820e-01 8.00712183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.138623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.72, Y:120.75, Z:0.80 [[-3.43542173e-01 -9.39136116e-01 1.46017448e-03 1.67723603e+02] [ 9.39127475e-01 -3.43545276e-01 -4.02847432e-03 1.20754137e+02] [ 4.28492177e-03 -1.26608495e-05 9.99990820e-01 8.00843719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16862385300004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:167.73, Y:120.76, Z:0.80 [[-3.44576370e-01 -9.38757151e-01 1.46171294e-03 1.67727086e+02] [ 9.38748510e-01 -3.44579470e-01 -4.02791602e-03 1.20758185e+02] [ 4.28491123e-03 -1.57438343e-05 9.99990820e-01 8.01848506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.198623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.73, Y:120.76, Z:0.80 [[-3.44830904e-01 -9.38663681e-01 1.46325452e-03 1.67726844e+02] [ 9.38655042e-01 -3.44834008e-01 -4.02735592e-03 1.20764748e+02] [ 4.28491265e-03 -1.52655477e-05 9.99990820e-01 8.02173642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22862385300004 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:167.73, Y:120.75, Z:0.80 [[-3.44957556e-01 -9.38617142e-01 1.46480334e-03 1.67734706e+02] [ 9.38608504e-01 -3.44960665e-01 -4.02679251e-03 1.20747943e+02] [ 4.28491601e-03 -1.41956322e-05 9.99990820e-01 8.02361236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.258623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:167.74, Y:120.74, Z:0.80 [[-3.44185661e-01 -9.38900464e-01 1.46634782e-03 1.67739867e+02] [ 9.38891831e-01 -3.44188785e-01 -4.02623001e-03 1.20742336e+02] [ 4.28492970e-03 -9.02864667e-06 9.99990820e-01 8.00628403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28862385300005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.74, Y:120.74, Z:0.80 [[-3.43880086e-01 -9.39012424e-01 1.46788086e-03 1.67742567e+02] [ 9.39003794e-01 -3.43883219e-01 -4.02567102e-03 1.20738844e+02] [ 4.28493470e-03 -6.00239785e-06 9.99990820e-01 8.00799111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.318623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.74, Y:120.74, Z:0.80 [[-3.43410889e-01 -9.39184115e-01 1.46940989e-03 1.67744148e+02] [ 9.39175490e-01 -3.43414032e-01 -4.02511283e-03 1.20737596e+02] [ 4.28493801e-03 -2.23381916e-06 9.99990820e-01 8.00443440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34862385300005 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:167.75, Y:120.72, Z:0.80 [[-3.41843052e-01 -9.39755907e-01 1.47093820e-03 1.67752007e+02] [ 9.39747289e-01 -3.41846217e-01 -4.02455425e-03 1.20723344e+02] [ 4.28493329e-03 6.54427863e-06 9.99990820e-01 7.98986884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.378623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:167.75, Y:120.74, Z:0.81 [[-3.40478325e-01 -9.40251212e-01 1.47245904e-03 1.67748031e+02] [ 9.40242602e-01 -3.40481509e-01 -4.02399775e-03 1.20736288e+02] [ 4.28491383e-03 1.43847030e-05 9.99990820e-01 8.05626469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.408623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:167.76, Y:120.71, Z:0.80 [[-3.40023623e-01 -9.40415739e-01 1.47398140e-03 1.67759500e+02] [ 9.40407133e-01 -3.40026818e-01 -4.02344003e-03 1.20708898e+02] [ 4.28489953e-03 1.80779660e-05 9.99990820e-01 7.99222196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.438623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.76, Y:120.72, Z:0.80 [[-3.37620947e-01 -9.41280999e-01 1.47549734e-03 1.67756896e+02] [ 9.41272403e-01 -3.37624170e-01 -4.02288402e-03 1.20719429e+02] [ 4.28482785e-03 3.06350187e-05 9.99990820e-01 8.00362019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.468623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:167.76, Y:120.71, Z:0.80 [[-3.36591488e-01 -9.41649610e-01 1.47700566e-03 1.67761245e+02] [ 9.41641020e-01 -3.36594726e-01 -4.02233016e-03 1.20709388e+02] [ 4.28477795e-03 3.69270281e-05 9.99990820e-01 8.01321805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.498623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.77, Y:120.68, Z:0.80 [[-3.35616192e-01 -9.41997657e-01 1.47851648e-03 1.67771163e+02] [ 9.41989073e-01 -3.35619446e-01 -4.02177474e-03 1.20682465e+02] [ 4.28472127e-03 4.29736445e-05 9.99990820e-01 8.00818106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.528623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.77, Y:120.68, Z:0.80 [[-3.33410843e-01 -9.42780472e-01 1.48000836e-03 1.67770731e+02] [ 9.42771898e-01 -3.33414124e-01 -4.02122566e-03 1.20683293e+02] [ 4.28458871e-03 5.45900521e-05 9.99990820e-01 8.02173459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.77, Y:120.68, Z:0.80 [[-3.32550152e-01 -9.43084408e-01 1.48148789e-03 1.67770750e+02] [ 9.43075840e-01 -3.32553447e-01 -4.02068050e-03 1.20683360e+02] [ 4.28451499e-03 6.00775239e-05 9.99990820e-01 8.03004370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.588623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.77, Y:120.68, Z:0.80 [[-3.30290396e-01 -9.43878199e-01 1.48297030e-03 1.67768816e+02] [ 9.43869641e-01 -3.30293717e-01 -4.02013366e-03 1.20683779e+02] [ 4.28433229e-03 7.19191076e-05 9.99990820e-01 8.03718932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.77, Y:120.67, Z:0.80 [[-3.29442557e-01 -9.44174453e-01 1.48445560e-03 1.67771822e+02] [ 9.44165900e-01 -3.29445892e-01 -4.01958513e-03 1.20671960e+02] [ 4.28423739e-03 7.73499593e-05 9.99990820e-01 8.03512931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.648623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.77, Y:120.68, Z:0.80 [[-3.28568483e-01 -9.44478980e-01 1.48593761e-03 1.67769204e+02] [ 9.44470433e-01 -3.28571832e-01 -4.01903719e-03 1.20675536e+02] [ 4.28413339e-03 8.28951866e-05 9.99990820e-01 8.03572275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67862385300003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.77, Y:120.65, Z:0.80 [[-3.27189447e-01 -9.44957594e-01 1.48741798e-03 1.67774103e+02] [ 9.44949053e-01 -3.27192815e-01 -4.01848924e-03 1.20653459e+02] [ 4.28397440e-03 9.07269444e-05 9.99990820e-01 8.02020338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.708623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:167.77, Y:120.66, Z:0.80 [[-3.27157660e-01 -9.44968597e-01 1.48889133e-03 1.67768432e+02] [ 9.44960059e-01 -3.27161034e-01 -4.01794328e-03 1.20662213e+02] [ 4.28393745e-03 9.24419206e-05 9.99990820e-01 8.01724661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73862385300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.77, Y:120.66, Z:0.80 [[-3.27207311e-01 -9.44951403e-01 1.49036096e-03 1.67767445e+02] [ 9.44942868e-01 -3.27210692e-01 -4.01739808e-03 1.20657974e+02] [ 4.28390799e-03 9.37839381e-05 9.99990820e-01 8.01481653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.768623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.77, Y:120.65, Z:0.80 [[-3.27253891e-01 -9.44935270e-01 1.49183602e-03 1.67767154e+02] [ 9.44926737e-01 -3.27257278e-01 -4.01685025e-03 1.20645014e+02] [ 4.28387767e-03 9.51458634e-05 9.99990820e-01 8.00495552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79862385300004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.76, Y:120.65, Z:0.80 [[-3.27718693e-01 -9.44774168e-01 1.49330525e-03 1.67762100e+02] [ 9.44765636e-01 -3.27722082e-01 -4.01630398e-03 1.20651646e+02] [ 4.28388935e-03 9.46055906e-05 9.99990820e-01 8.00290233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.828623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:167.76, Y:120.64, Z:0.80 [[-3.28668345e-01 -9.44444220e-01 1.49477475e-03 1.67762128e+02] [ 9.44435687e-01 -3.28671731e-01 -4.01575699e-03 1.20637252e+02] [ 4.28394868e-03 9.18664130e-05 9.99990820e-01 7.99682825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.76, Y:120.63, Z:0.80 [[-3.29767084e-01 -9.44061138e-01 1.49624405e-03 1.67760565e+02] [ 9.44052603e-01 -3.29770466e-01 -4.01520946e-03 1.20633247e+02] [ 4.28402031e-03 8.84491728e-05 9.99990820e-01 8.00268774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.888623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.75, Y:120.64, Z:0.80 [[-3.30723507e-01 -9.43726507e-01 1.49770688e-03 1.67753580e+02] [ 9.43717971e-01 -3.30726887e-01 -4.01466374e-03 1.20644210e+02] [ 4.28407652e-03 8.56692317e-05 9.99990820e-01 8.00798044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91862385300004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:167.75, Y:120.65, Z:0.80 [[-3.32988068e-01 -9.42929848e-01 1.49917672e-03 1.67745910e+02] [ 9.42921307e-01 -3.32991434e-01 -4.01411479e-03 1.20646944e+02] [ 4.28424166e-03 7.69533461e-05 9.99990820e-01 8.03020811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.948623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.74, Y:120.64, Z:0.80 [[-3.34675863e-01 -9.42332115e-01 1.50065836e-03 1.67744931e+02] [ 9.42323570e-01 -3.34679220e-01 -4.01356081e-03 1.20640951e+02] [ 4.28434641e-03 7.08638215e-05 9.99990820e-01 8.03429434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97862385300004 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:167.74, Y:120.65, Z:0.81 [[-3.35935732e-01 -9.41883712e-01 1.50214242e-03 1.67736915e+02] [ 9.41875166e-01 -3.35939083e-01 -4.01300530e-03 1.20652541e+02] [ 4.28441267e-03 6.67187658e-05 9.99990820e-01 8.10493289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.008623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.74, Y:120.64, Z:0.80 [[-3.39722464e-01 -9.40524527e-01 1.50363368e-03 1.67735507e+02] [ 9.40515970e-01 -3.39725788e-01 -4.01244646e-03 1.20640461e+02] [ 4.28462745e-03 5.10732902e-05 9.99990820e-01 8.01604609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03862385300005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.73, Y:120.65, Z:0.80 [[-3.42004325e-01 -9.39697173e-01 1.50512836e-03 1.67728959e+02] [ 9.39688609e-01 -3.42007635e-01 -4.01188570e-03 1.20650600e+02] [ 4.28472304e-03 4.22697087e-05 9.99990820e-01 8.00654788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.068623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.72, Y:120.67, Z:0.80 [[-3.46789403e-01 -9.37941811e-01 1.50662598e-03 1.67718400e+02] [ 9.37933233e-01 -3.46792675e-01 -4.01132321e-03 1.20665353e+02] [ 4.28487461e-03 2.20301927e-05 9.99990820e-01 8.01057454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09862385300005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.72, Y:120.66, Z:0.80 [[-3.49778960e-01 -9.36831044e-01 1.50814231e-03 1.67717987e+02] [ 9.36822458e-01 -3.49782211e-01 -4.01075303e-03 1.20660660e+02] [ 4.28491930e-03 9.98455880e-06 9.99990820e-01 8.01413955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.128623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.72, Y:120.66, Z:0.80 [[-3.52846609e-01 -9.35679962e-01 1.50966843e-03 1.67715471e+02] [ 9.35671369e-01 -3.52849838e-01 -4.01017851e-03 1.20662824e+02] [ 4.28492994e-03 -2.42436015e-06 9.99990820e-01 8.01376869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.158623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:167.71, Y:120.67, Z:0.80 [[-3.59092313e-01 -9.33300823e-01 1.51119660e-03 1.67710868e+02] [ 9.33292211e-01 -3.59095492e-01 -4.00960255e-03 1.20665625e+02] [ 4.28482925e-03 -2.94294340e-05 9.99990820e-01 8.01835064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.188623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.72, Y:120.63, Z:0.80 [[-3.62650314e-01 -9.31924064e-01 1.51273116e-03 1.67723166e+02] [ 9.31915442e-01 -3.62653466e-01 -4.00902351e-03 1.20628769e+02] [ 4.28470268e-03 -4.41361019e-05 9.99990820e-01 8.02214158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.218623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.72, Y:120.65, Z:0.80 [[-3.66078967e-01 -9.30582558e-01 1.51424886e-03 1.67715702e+02] [ 9.30573927e-01 -3.66082094e-01 -4.00845018e-03 1.20646769e+02] [ 4.28453321e-03 -5.82887902e-05 9.99990820e-01 8.01337219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.248623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.73, Y:120.62, Z:0.80 [[-3.69431792e-01 -9.29256613e-01 1.51575865e-03 1.67726793e+02] [ 9.29247973e-01 -3.69434894e-01 -4.00787918e-03 1.20616748e+02] [ 4.28432237e-03 -7.21223311e-05 9.99990820e-01 8.00439242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.278623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:167.73, Y:120.60, Z:0.81 [[-3.74750915e-01 -9.27124290e-01 1.51726404e-03 1.67730492e+02] [ 9.27115635e-01 -3.74753975e-01 -4.00730921e-03 1.20603288e+02] [ 4.28387443e-03 -9.50635838e-05 9.99990820e-01 8.06814964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.74, Y:120.59, Z:0.80 [[-3.77915010e-01 -9.25839046e-01 1.51874721e-03 1.67735986e+02] [ 9.25830382e-01 -3.77918046e-01 -4.00674701e-03 1.20588517e+02] [ 4.28356481e-03 -1.08107524e-04 9.99990820e-01 8.00680550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.338623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.74, Y:120.59, Z:0.80 [[-3.78253186e-01 -9.25700932e-01 1.52021788e-03 1.67736941e+02] [ 9.25692270e-01 -3.78256225e-01 -4.00618894e-03 1.20586207e+02] [ 4.28356472e-03 -1.08099791e-04 9.99990820e-01 8.00669768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.73, Y:120.60, Z:0.80 [[-3.80494247e-01 -9.24782035e-01 1.52168112e-03 1.67731109e+02] [ 9.24773367e-01 -3.80497272e-01 -4.00563308e-03 1.20601865e+02] [ 4.28333303e-03 -1.16910172e-04 9.99990820e-01 8.01048754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.398623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.74, Y:120.57, Z:0.80 [[-3.83731463e-01 -9.23443471e-01 1.52315443e-03 1.67742863e+02] [ 9.23434795e-01 -3.83734464e-01 -4.00507277e-03 1.20572885e+02] [ 4.28294515e-03 -1.30338632e-04 9.99990820e-01 8.02081413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.74, Y:120.58, Z:0.80 [[-3.85009437e-01 -9.22911377e-01 1.52462238e-03 1.67740517e+02] [ 9.22902699e-01 -3.85012432e-01 -4.00451388e-03 1.20580573e+02] [ 4.28280999e-03 -1.34697522e-04 9.99990820e-01 8.01805443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.458623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:167.75, Y:120.57, Z:0.80 [[-3.86644605e-01 -9.22227532e-01 1.52608085e-03 1.67748484e+02] [ 9.22218851e-01 -3.86647591e-01 -4.00395800e-03 1.20565321e+02] [ 4.28261579e-03 -1.40728225e-04 9.99990820e-01 8.02466574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48862385300004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.75, Y:120.57, Z:0.80 [[-3.87185237e-01 -9.22000683e-01 1.52753705e-03 1.67748340e+02] [ 9.21992002e-01 -3.87188224e-01 -4.00340237e-03 1.20569624e+02] [ 4.28258408e-03 -1.41681348e-04 9.99990820e-01 8.03378121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.518623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:167.76, Y:120.55, Z:0.80 [[-3.87499872e-01 -9.21868489e-01 1.52898914e-03 1.67757210e+02] [ 9.21859810e-01 -3.87502862e-01 -4.00284771e-03 1.20550220e+02] [ 4.28258684e-03 -1.41589332e-04 9.99990820e-01 8.02384955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.75, Y:120.56, Z:0.80 [[-3.87848828e-01 -9.21721729e-01 1.53043490e-03 1.67752841e+02] [ 9.21713050e-01 -3.87851821e-01 -4.00229487e-03 1.20564992e+02] [ 4.28258411e-03 -1.41663555e-04 9.99990820e-01 8.03021942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.578623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.76, Y:120.56, Z:0.80 [[-3.88167413e-01 -9.21587605e-01 1.53187999e-03 1.67757986e+02] [ 9.21578927e-01 -3.88170410e-01 -4.00174168e-03 1.20561481e+02] [ 4.28258601e-03 -1.41597394e-04 9.99990820e-01 8.01917991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.75, Y:120.58, Z:0.80 [[-3.88528899e-01 -9.21435263e-01 1.53333240e-03 1.67754926e+02] [ 9.21426586e-01 -3.88531899e-01 -4.00118509e-03 1.20576091e+02] [ 4.28258158e-03 -1.41722798e-04 9.99990820e-01 8.02095842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.638623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.76, Y:120.56, Z:0.80 [[-3.88746077e-01 -9.21343656e-01 1.53479173e-03 1.67764831e+02] [ 9.21334981e-01 -3.88749081e-01 -4.00062523e-03 1.20557598e+02] [ 4.28259955e-03 -1.41170052e-04 9.99990820e-01 8.01217086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66862385300004 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:167.77, Y:120.56, Z:0.81 [[-3.87543037e-01 -9.21850332e-01 1.53625039e-03 1.67770149e+02] [ 9.21841663e-01 -3.87546059e-01 -4.00006503e-03 1.20555397e+02] [ 4.28282906e-03 -1.34017732e-04 9.99990820e-01 8.06992069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.698623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.77, Y:120.57, Z:0.80 [[-3.87335410e-01 -9.21937588e-01 1.53769922e-03 1.67765188e+02] [ 9.21928922e-01 -3.87338440e-01 -3.99950799e-03 1.20573347e+02] [ 4.28290677e-03 -1.31501685e-04 9.99990820e-01 8.00231762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72862385300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.76, Y:120.59, Z:0.80 [[-3.85978024e-01 -9.22506692e-01 1.53915747e-03 1.67762322e+02] [ 9.22498032e-01 -3.85981073e-01 -3.99894672e-03 1.20585025e+02] [ 4.28314077e-03 -1.23635814e-04 9.99990820e-01 7.99987649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.758623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.77, Y:120.58, Z:0.80 [[-3.81387253e-01 -9.24414079e-01 1.54063399e-03 1.67767402e+02] [ 9.24405437e-01 -3.81390352e-01 -3.99837780e-03 1.20581389e+02] [ 4.28373967e-03 -1.00759893e-04 9.99990820e-01 8.00939032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.76, Y:120.60, Z:0.80 [[-3.78828958e-01 -9.25465419e-01 1.54211599e-03 1.67762370e+02] [ 9.25456789e-01 -3.78832087e-01 -3.99780613e-03 1.20599305e+02] [ 4.28403435e-03 -8.73230161e-05 9.99990820e-01 8.02010503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.818623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.76, Y:120.61, Z:0.81 [[-3.72951617e-01 -9.27849508e-01 1.54360786e-03 1.67763306e+02] [ 9.27840899e-01 -3.72954807e-01 -3.99723002e-03 1.20606427e+02] [ 4.28452388e-03 -5.85508892e-05 9.99990820e-01 8.05124445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84862385300005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.76, Y:120.61, Z:0.81 [[-3.70391525e-01 -9.28874443e-01 1.54511514e-03 1.67762238e+02] [ 9.28865846e-01 -3.70394745e-01 -3.99664730e-03 1.20611941e+02] [ 4.28468606e-03 -4.51196018e-05 9.99990820e-01 8.06161491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.878623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.76, Y:120.63, Z:0.81 [[-3.68434143e-01 -9.29652564e-01 1.54663139e-03 1.67755955e+02] [ 9.29643976e-01 -3.68437388e-01 -3.99606045e-03 1.20630988e+02] [ 4.28478468e-03 -3.44685486e-05 9.99990820e-01 8.06857580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.908623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.76, Y:120.62, Z:0.81 [[-3.65570933e-01 -9.30782196e-01 1.54816459e-03 1.67762937e+02] [ 9.30773621e-01 -3.65574210e-01 -3.99546637e-03 1.20619661e+02] [ 4.28487801e-03 -1.96356022e-05 9.99990820e-01 8.06194296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.938623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.76, Y:120.62, Z:0.81 [[-3.64932077e-01 -9.31032855e-01 1.54970448e-03 1.67764415e+02] [ 9.31024285e-01 -3.64935367e-01 -3.99486901e-03 1.20619314e+02] [ 4.28489627e-03 -1.50433397e-05 9.99990820e-01 8.05744550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.968623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.77, Y:120.61, Z:0.81 [[-3.64440917e-01 -9.31225221e-01 1.55123900e-03 1.67769092e+02] [ 9.31216655e-01 -3.64444218e-01 -3.99427305e-03 1.20612009e+02] [ 4.28490789e-03 -1.11369397e-05 9.99990820e-01 8.05100731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.77, Y:120.61, Z:0.80 [[-3.64302611e-01 -9.31279333e-01 1.55277049e-03 1.67771666e+02] [ 9.31270770e-01 -3.64305920e-01 -3.99367760e-03 1.20609601e+02] [ 4.28491289e-03 -8.85741010e-06 9.99990820e-01 8.04186625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.028623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.78, Y:120.61, Z:0.80 [[-3.63321954e-01 -9.31662354e-01 1.55429843e-03 1.67775598e+02] [ 9.31653797e-01 -3.63325278e-01 -3.99308285e-03 1.20608184e+02] [ 4.28492088e-03 -2.70662385e-06 9.99990820e-01 8.01863568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.78, Y:120.59, Z:0.80 [[-3.62746137e-01 -9.31886699e-01 1.55582564e-03 1.67782273e+02] [ 9.31878146e-01 -3.62749474e-01 -3.99248771e-03 1.20594011e+02] [ 4.28492113e-03 1.58041913e-06 9.99990820e-01 8.01581614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.088623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:167.78, Y:120.59, Z:0.80 [[-3.60930882e-01 -9.32591268e-01 1.55734481e-03 1.67784745e+02] [ 9.32582724e-01 -3.60934242e-01 -3.99189505e-03 1.20590394e+02] [ 4.28490553e-03 1.15546628e-05 9.99990820e-01 8.01864054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.79, Y:120.58, Z:0.80 [[-3.60224055e-01 -9.32864514e-01 1.55885551e-03 1.67788257e+02] [ 9.32855975e-01 -3.60227427e-01 -3.99130502e-03 1.20582693e+02] [ 4.28488933e-03 1.64236033e-05 9.99990820e-01 8.02917510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.148623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.78, Y:120.59, Z:0.80 [[-3.59425624e-01 -9.33172431e-01 1.56036155e-03 1.67784926e+02] [ 9.33163898e-01 -3.59429011e-01 -3.99071616e-03 1.20592338e+02] [ 4.28486551e-03 2.17074168e-05 9.99990820e-01 8.03903428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.79, Y:120.58, Z:0.80 [[-3.57447290e-01 -9.33932008e-01 1.56187131e-03 1.67791893e+02] [ 9.33923485e-01 -3.57450701e-01 -3.99012519e-03 1.20575155e+02] [ 4.28479763e-03 3.24088598e-05 9.99990820e-01 8.04859395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.208623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.79, Y:120.57, Z:0.81 [[-3.56694755e-01 -9.34219678e-01 1.56337912e-03 1.67794365e+02] [ 9.34211161e-01 -3.56698179e-01 -3.98953433e-03 1.20567319e+02] [ 4.28475596e-03 3.74802513e-05 9.99990820e-01 8.05883174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.79, Y:120.58, Z:0.80 [[-3.56016962e-01 -9.34478183e-01 1.56487492e-03 1.67790616e+02] [ 9.34469670e-01 -3.56020399e-01 -3.98894752e-03 1.20575035e+02] [ 4.28471182e-03 4.21951727e-05 9.99990820e-01 8.04934982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.268623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.79, Y:120.57, Z:0.80 [[-3.54559911e-01 -9.35031987e-01 1.56637318e-03 1.67792919e+02] [ 9.35023482e-01 -3.54563367e-01 -3.98835910e-03 1.20566399e+02] [ 4.28462188e-03 5.04834640e-05 9.99990820e-01 8.04551514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.80, Y:120.55, Z:0.80 [[-3.54101967e-01 -9.35205506e-01 1.56787392e-03 1.67798445e+02] [ 9.35197006e-01 -3.54105434e-01 -3.98776905e-03 1.20550013e+02] [ 4.28457625e-03 5.41941280e-05 9.99990820e-01 8.02666396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:120.53, Z:0.80 [[-3.53709605e-01 -9.35353972e-01 1.56936301e-03 1.67800847e+02] [ 9.35345475e-01 -3.53713081e-01 -3.98718294e-03 1.20534958e+02] [ 4.28453163e-03 5.75916912e-05 9.99990820e-01 8.03323832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.79, Y:120.56, Z:0.80 [[-3.53855578e-01 -9.35298756e-01 1.57083778e-03 1.67790116e+02] [ 9.35290261e-01 -3.53859060e-01 -3.98660184e-03 1.20558860e+02] [ 4.28451892e-03 5.85079759e-05 9.99990820e-01 8.02281326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.388623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.80, Y:120.54, Z:0.80 [[-3.54378872e-01 -9.35100606e-01 1.57232066e-03 1.67797153e+02] [ 9.35092112e-01 -3.54382356e-01 -3.98601691e-03 1.20537294e+02] [ 4.28452952e-03 5.77044720e-05 9.99990820e-01 8.04759023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.79, Y:120.56, Z:0.81 [[-3.55871987e-01 -9.34533388e-01 1.57380764e-03 1.67786883e+02] [ 9.34524891e-01 -3.55875463e-01 -3.98542971e-03 1.20555356e+02] [ 4.28459665e-03 5.24596288e-05 9.99990820e-01 8.05157969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.448623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.79, Y:120.54, Z:0.80 [[-3.56869656e-01 -9.34152861e-01 1.57529586e-03 1.67791529e+02] [ 9.34144363e-01 -3.56873130e-01 -3.98484138e-03 1.20541120e+02] [ 4.28463174e-03 4.94847770e-05 9.99990820e-01 8.04900345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.79, Y:120.53, Z:0.80 [[-3.58149915e-01 -9.33662761e-01 1.57678990e-03 1.67794141e+02] [ 9.33654261e-01 -3.58153383e-01 -3.98425011e-03 1.20531532e+02] [ 4.28467860e-03 4.52177749e-05 9.99990820e-01 8.04944198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.508623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.78, Y:120.56, Z:0.81 [[-3.61005367e-01 -9.32562402e-01 1.57827310e-03 1.67782082e+02] [ 9.32553894e-01 -3.61008815e-01 -3.98366249e-03 1.20555781e+02] [ 4.28478436e-03 3.37011890e-05 9.99990820e-01 8.05295536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.79, Y:120.54, Z:0.80 [[-3.62561196e-01 -9.31958627e-01 1.57976768e-03 1.67785070e+02] [ 9.31950116e-01 -3.62564637e-01 -3.98306971e-03 1.20544600e+02] [ 4.28482407e-03 2.81581543e-05 9.99990820e-01 8.04789955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.568623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.78, Y:120.55, Z:0.80 [[-3.64314318e-01 -9.31274706e-01 1.58127332e-03 1.67779740e+02] [ 9.31266191e-01 -3.64317749e-01 -3.98247188e-03 1.20554207e+02] [ 4.28486126e-03 2.17148504e-05 9.99990820e-01 8.04839963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.78, Y:120.54, Z:0.80 [[-3.66091806e-01 -9.30577393e-01 1.58278095e-03 1.67784303e+02] [ 9.30568874e-01 -3.66095227e-01 -3.98187260e-03 1.20539431e+02] [ 4.28488918e-03 1.51557561e-05 9.99990820e-01 8.04420093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.628623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:167.78, Y:120.54, Z:0.80 [[-3.69562448e-01 -9.29204545e-01 1.58428836e-03 1.67780693e+02] [ 9.29196016e-01 -3.69565844e-01 -3.98127275e-03 1.20543129e+02] [ 4.28491560e-03 7.85525986e-07 9.99990820e-01 8.02774534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.658623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.78, Y:120.55, Z:0.80 [[-3.71683050e-01 -9.28358334e-01 1.58579282e-03 1.67775906e+02] [ 9.28349800e-01 -3.71686432e-01 -3.98067341e-03 1.20553976e+02] [ 4.28490901e-03 -7.37838832e-06 9.99990820e-01 8.02847878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.688623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:167.78, Y:120.55, Z:0.80 [[-3.75925086e-01 -9.26648699e-01 1.58730849e-03 1.67778188e+02] [ 9.26640151e-01 -3.75928436e-01 -3.98006894e-03 1.20545424e+02] [ 4.28484010e-03 -2.53439755e-05 9.99990820e-01 8.01902937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.77, Y:120.56, Z:0.80 [[-3.78136262e-01 -9.25748585e-01 1.58882845e-03 1.67770008e+02] [ 9.25740033e-01 -3.78139598e-01 -3.97946209e-03 1.20563724e+02] [ 4.28478035e-03 -3.39368151e-05 9.99990820e-01 8.02106606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.78, Y:120.55, Z:0.80 [[-3.80149891e-01 -9.24923527e-01 1.59035756e-03 1.67776412e+02] [ 9.24914970e-01 -3.80153216e-01 -3.97885090e-03 1.20545649e+02] [ 4.28471235e-03 -4.16142193e-05 9.99990820e-01 8.02136298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.78, Y:120.54, Z:0.80 [[-3.81908484e-01 -9.24198775e-01 1.59188925e-03 1.67776334e+02] [ 9.24190214e-01 -3.81911799e-01 -3.97823799e-03 1.20544483e+02] [ 4.28464397e-03 -4.81143738e-05 9.99990820e-01 8.02646988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.79, Y:120.52, Z:0.80 [[-3.84357318e-01 -9.23183033e-01 1.59341230e-03 1.67786496e+02] [ 9.23174466e-01 -3.84360616e-01 -3.97762787e-03 1.20518154e+02] [ 4.28452350e-03 -5.78328273e-05 9.99990820e-01 8.04374269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.838623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.78, Y:120.53, Z:0.80 [[-3.85476642e-01 -9.22716216e-01 1.59492183e-03 1.67783502e+02] [ 9.22707647e-01 -3.85479937e-01 -3.97702250e-03 1.20525198e+02] [ 4.28447351e-03 -6.14027102e-05 9.99990820e-01 8.04957793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.79, Y:120.50, Z:0.81 [[-3.87039298e-01 -9.22061838e-01 1.59642247e-03 1.67794872e+02] [ 9.22053266e-01 -3.87042585e-01 -3.97642003e-03 1.20496705e+02] [ 4.28438864e-03 -6.70442651e-05 9.99990820e-01 8.05158057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.898623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.79, Y:120.50, Z:0.80 [[-3.87723383e-01 -9.21774389e-01 1.59791335e-03 1.67793250e+02] [ 9.21765818e-01 -3.87726670e-01 -3.97582084e-03 1.20501594e+02] [ 4.28436344e-03 -6.86168010e-05 9.99990820e-01 8.04048318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.79, Y:120.50, Z:0.80 [[-3.88456084e-01 -9.21465850e-01 1.59939340e-03 1.67793323e+02] [ 9.21457278e-01 -3.88459370e-01 -3.97522535e-03 1.20501859e+02] [ 4.28433376e-03 -7.04277797e-05 9.99990820e-01 8.03275407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.958623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.80, Y:120.50, Z:0.80 [[-3.89048686e-01 -9.21215804e-01 1.60087852e-03 1.67795808e+02] [ 9.21207232e-01 -3.89051973e-01 -3.97462718e-03 1.20495679e+02] [ 4.28431432e-03 -7.15826120e-05 9.99990820e-01 8.02458320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.79, Y:120.50, Z:0.80 [[-3.89580047e-01 -9.20991216e-01 1.60236270e-03 1.67793619e+02] [ 9.20982645e-01 -3.89583335e-01 -3.97402875e-03 1.20499928e+02] [ 4.28429937e-03 -7.24540688e-05 9.99990820e-01 8.00862516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.80, Y:120.49, Z:0.80 [[-3.89939972e-01 -9.20838882e-01 1.60384834e-03 1.67797291e+02] [ 9.20830312e-01 -3.89943264e-01 -3.97342908e-03 1.20491259e+02] [ 4.28429785e-03 -7.25266613e-05 9.99990820e-01 8.00375091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.79, Y:120.50, Z:0.80 [[-3.89978468e-01 -9.20822577e-01 1.60533375e-03 1.67792783e+02] [ 9.20814009e-01 -3.89981766e-01 -3.97282886e-03 1.20503834e+02] [ 4.28432140e-03 -7.11039077e-05 9.99990820e-01 8.00451295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.80, Y:120.49, Z:0.80 [[-3.89485522e-01 -9.21031186e-01 1.60682377e-03 1.67797393e+02] [ 9.21022623e-01 -3.89488831e-01 -3.97222612e-03 1.20494642e+02] [ 4.28438405e-03 -6.72035233e-05 9.99990820e-01 8.01771010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.80, Y:120.49, Z:0.80 [[-3.89281145e-01 -9.21117584e-01 1.60831771e-03 1.67798125e+02] [ 9.21109024e-01 -3.89284462e-01 -3.97162115e-03 1.20494331e+02] [ 4.28442317e-03 -6.46412763e-05 9.99990820e-01 8.02863165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.138623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:167.80, Y:120.50, Z:0.80 [[-3.88940830e-01 -9.21261331e-01 1.60980825e-03 1.67798108e+02] [ 9.21252774e-01 -3.88944157e-01 -3.97101690e-03 1.20496938e+02] [ 4.28446982e-03 -6.14502933e-05 9.99990820e-01 8.01896399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.80, Y:120.50, Z:0.80 [[-3.88946962e-01 -9.21258739e-01 1.61130245e-03 1.67797781e+02] [ 9.21250185e-01 -3.88950295e-01 -3.97041051e-03 1.20498599e+02] [ 4.28449195e-03 -5.98664247e-05 9.99990820e-01 8.02030531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.80, Y:120.49, Z:0.80 [[-3.89175806e-01 -9.21162087e-01 1.61280109e-03 1.67802481e+02] [ 9.21153535e-01 -3.89179143e-01 -3.96980166e-03 1.20487045e+02] [ 4.28449933e-03 -5.93133352e-05 9.99990820e-01 8.02994229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.80, Y:120.50, Z:0.80 [[-3.89660776e-01 -9.20957042e-01 1.61429631e-03 1.67798222e+02] [ 9.20948491e-01 -3.89664115e-01 -3.96919355e-03 1.20498362e+02] [ 4.28449009e-03 -5.99552899e-05 9.99990820e-01 8.03306593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.258623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.80, Y:120.50, Z:0.80 [[-3.90783733e-01 -9.20481104e-01 1.61579399e-03 1.67799498e+02] [ 9.20472551e-01 -3.90787068e-01 -3.96858377e-03 1.20501192e+02] [ 4.28443777e-03 -6.35639640e-05 9.99990820e-01 8.02605682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.80, Y:120.50, Z:0.80 [[-3.91134119e-01 -9.20332269e-01 1.61730181e-03 1.67800506e+02] [ 9.20323717e-01 -3.91137457e-01 -3.96796920e-03 1.20498915e+02] [ 4.28443742e-03 -6.35669188e-05 9.99990820e-01 8.02594901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.318623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.81, Y:120.48, Z:0.80 [[-3.91728920e-01 -9.20079254e-01 1.61881214e-03 1.67809408e+02] [ 9.20070702e-01 -3.91732259e-01 -3.96735294e-03 1.20481909e+02] [ 4.28442007e-03 -6.47052552e-05 9.99990820e-01 8.02069713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34862385300005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.81, Y:120.49, Z:0.80 [[-3.92286324e-01 -9.19841733e-01 1.62031305e-03 1.67807679e+02] [ 9.19833183e-01 -3.92289665e-01 -3.96673985e-03 1.20489443e+02] [ 4.28440493e-03 -6.56800819e-05 9.99990820e-01 8.02757229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.378623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.81, Y:120.49, Z:0.80 [[-3.91844909e-01 -9.20029856e-01 1.62181030e-03 1.67811117e+02] [ 9.20021310e-01 -3.91848261e-01 -3.96612760e-03 1.20486297e+02] [ 4.28445936e-03 -6.20068713e-05 9.99990820e-01 8.02989192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:120.49, Z:0.80 [[-3.91076382e-01 -9.20356794e-01 1.62331174e-03 1.67810090e+02] [ 9.20348253e-01 -3.91079747e-01 -3.96551298e-03 1.20490856e+02] [ 4.28453116e-03 -5.68063422e-05 9.99990820e-01 8.03899307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.438623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.81, Y:120.49, Z:0.80 [[-3.87594371e-01 -9.21828598e-01 1.62481567e-03 1.67812505e+02] [ 9.21820072e-01 -3.87597775e-01 -3.96489667e-03 1.20487108e+02] [ 4.28473007e-03 -3.89839335e-05 9.99990820e-01 8.04503427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.468623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.81, Y:120.49, Z:0.80 [[-3.85582741e-01 -9.22671830e-01 1.62632209e-03 1.67812484e+02] [ 9.22663314e-01 -3.85586169e-01 -3.96427867e-03 1.20486093e+02] [ 4.28481556e-03 -2.80097041e-05 9.99990820e-01 8.03400169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.498623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.81, Y:120.49, Z:0.80 [[-3.83193610e-01 -9.23666611e-01 1.62782827e-03 1.67808684e+02] [ 9.23658106e-01 -3.83197067e-01 -3.96366010e-03 1.20494810e+02] [ 4.28487951e-03 -1.52924399e-05 9.99990820e-01 8.02211824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.528623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.81, Y:120.50, Z:0.80 [[-3.78741158e-01 -9.25501205e-01 1.62934196e-03 1.67805642e+02] [ 9.25492720e-01 -3.78744662e-01 -3.96303777e-03 1.20498622e+02] [ 4.28490080e-03 6.97861066e-06 9.99990820e-01 8.00900937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.81, Y:120.48, Z:0.80 [[-3.76953859e-01 -9.26230602e-01 1.63086601e-03 1.67814353e+02] [ 9.26222127e-01 -3.76957386e-01 -3.96241049e-03 1.20475153e+02] [ 4.28487285e-03 1.68982635e-05 9.99990820e-01 8.01972954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.588623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.81, Y:120.48, Z:0.80 [[-3.75504733e-01 -9.26819039e-01 1.63238074e-03 1.67812631e+02] [ 9.26810572e-01 -3.75508280e-01 -3.96178638e-03 1.20476233e+02] [ 4.28483153e-03 2.52381908e-05 9.99990820e-01 8.01121055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.81, Y:120.47, Z:0.80 [[-3.74396891e-01 -9.27267113e-01 1.63388548e-03 1.67811258e+02] [ 9.27258653e-01 -3.74400454e-01 -3.96116571e-03 1.20472695e+02] [ 4.28478615e-03 3.19863204e-05 9.99990820e-01 8.02803183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.82, Y:120.45, Z:0.80 [[-3.74682482e-01 -9.27151748e-01 1.63539221e-03 1.67821602e+02] [ 9.27143289e-01 -3.74686050e-01 -3.96054355e-03 1.20445819e+02] [ 4.28478352e-03 3.22966239e-05 9.99990820e-01 8.02564572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.81, Y:120.47, Z:0.80 [[-3.76342880e-01 -9.26479011e-01 1.63688394e-03 1.67812625e+02] [ 9.26470548e-01 -3.76346439e-01 -3.95992692e-03 1.20465312e+02] [ 4.28482462e-03 2.62344570e-05 9.99990820e-01 8.02261422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.708623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.81, Y:120.47, Z:0.80 [[-3.77358428e-01 -9.26065836e-01 1.63837445e-03 1.67809278e+02] [ 9.26057373e-01 -3.77361983e-01 -3.95931014e-03 1.20472990e+02] [ 4.28484209e-03 2.31496902e-05 9.99990820e-01 8.02248219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.81, Y:120.46, Z:0.80 [[-3.78558461e-01 -9.25575930e-01 1.63988372e-03 1.67813857e+02] [ 9.25567465e-01 -3.78562012e-01 -3.95868493e-03 1.20460645e+02] [ 4.28486117e-03 1.92293451e-05 9.99990820e-01 8.01678723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:120.48, Z:0.80 [[-3.80610715e-01 -9.24733902e-01 1.64139275e-03 1.67805062e+02] [ 9.24725432e-01 -3.80614254e-01 -3.95805914e-03 1.20477084e+02] [ 4.28488895e-03 1.13579045e-05 9.99990820e-01 8.00702436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:120.48, Z:0.80 [[-3.82119321e-01 -9.24111533e-01 1.64290706e-03 1.67802706e+02] [ 9.24103059e-01 -3.82122853e-01 -3.95743048e-03 1.20479286e+02] [ 4.28489948e-03 6.00478752e-06 9.99990820e-01 8.00256777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.828623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.81, Y:120.47, Z:0.80 [[-3.83598345e-01 -9.23498568e-01 1.64443611e-03 1.67806975e+02] [ 9.23490092e-01 -3.83601870e-01 -3.95679501e-03 1.20466540e+02] [ 4.28490329e-03 8.00436009e-07 9.99990820e-01 8.00244135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.80, Y:120.47, Z:0.80 [[-3.85395691e-01 -9.22749940e-01 1.64596159e-03 1.67802907e+02] [ 9.22741459e-01 -3.85399206e-01 -3.95616034e-03 1.20474385e+02] [ 4.28489900e-03 -5.89014858e-06 9.99990820e-01 7.99109064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:120.46, Z:0.80 [[-3.88744523e-01 -9.21344117e-01 1.64748734e-03 1.67810471e+02] [ 9.21335626e-01 -3.88748014e-01 -3.95552486e-03 1.20455361e+02] [ 4.28485699e-03 -1.97998480e-05 9.99990820e-01 7.98486676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91862385300004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.81, Y:120.45, Z:0.80 [[-3.90422921e-01 -9.20634142e-01 1.64900901e-03 1.67813902e+02] [ 9.20625648e-01 -3.90426402e-01 -3.95489039e-03 1.20447140e+02] [ 4.28482378e-03 -2.59598684e-05 9.99990820e-01 8.02995013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.948623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.81, Y:120.44, Z:0.80 [[-3.92519416e-01 -9.19742238e-01 1.65051710e-03 1.67814553e+02] [ 9.19733738e-01 -3.92522885e-01 -3.95426091e-03 1.20443437e+02] [ 4.28476651e-03 -3.40879273e-05 9.99990820e-01 8.00686702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:120.44, Z:0.80 [[-3.96054476e-01 -9.18225529e-01 1.65202047e-03 1.67814764e+02] [ 9.18217019e-01 -3.96057919e-01 -3.95363273e-03 1.20439400e+02] [ 4.28462229e-03 -4.89406294e-05 9.99990820e-01 8.02449280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.82, Y:120.42, Z:0.80 [[-3.97876671e-01 -9.17437421e-01 1.65352260e-03 1.67821201e+02] [ 9.17428906e-01 -3.97880103e-01 -3.95300439e-03 1.20422248e+02] [ 4.28453790e-03 -5.58187946e-05 9.99990820e-01 8.03782057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.82, Y:120.43, Z:0.80 [[-3.99764354e-01 -9.16616453e-01 1.65501538e-03 1.67818279e+02] [ 9.16607934e-01 -3.99767775e-01 -3.95237931e-03 1.20428096e+02] [ 4.28443772e-03 -6.30201275e-05 9.99990820e-01 8.04611491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.068623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.83, Y:120.41, Z:0.80 [[-4.03071480e-01 -9.15167000e-01 1.65650404e-03 1.67827290e+02] [ 9.15158471e-01 -4.03074877e-01 -3.95175529e-03 1.20409905e+02] [ 4.28421119e-03 -7.68761536e-05 9.99990820e-01 8.04105931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.83, Y:120.41, Z:0.80 [[-4.04639702e-01 -9.14474692e-01 1.65798760e-03 1.67828738e+02] [ 9.14466160e-01 -4.04643090e-01 -3.95113275e-03 1.20408020e+02] [ 4.28410413e-03 -8.26116229e-05 9.99990820e-01 8.03183476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.128623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.83, Y:120.40, Z:0.80 [[-4.05935128e-01 -9.13900388e-01 1.65946156e-03 1.67832590e+02] [ 9.13891853e-01 -4.05938510e-01 -3.95051360e-03 1.20398661e+02] [ 4.28401526e-03 -8.70838442e-05 9.99990820e-01 8.03012640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:120.39, Z:0.80 [[-4.06956435e-01 -9.13446058e-01 1.66093148e-03 1.67834435e+02] [ 9.13437523e-01 -4.06959814e-01 -3.94989550e-03 1.20392881e+02] [ 4.28394884e-03 -9.02782486e-05 9.99990820e-01 8.02345212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.188623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.84, Y:120.38, Z:0.80 [[-4.08043150e-01 -9.12961130e-01 1.66239550e-03 1.67838653e+02] [ 9.12952593e-01 -4.08046526e-01 -3.94927924e-03 1.20381298e+02] [ 4.28387314e-03 -9.37880588e-05 9.99990820e-01 8.01828858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.218623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.83, Y:120.39, Z:0.80 [[-4.08494168e-01 -9.12759413e-01 1.66385203e-03 1.67833194e+02] [ 9.12750877e-01 -4.08497545e-01 -3.94866550e-03 1.20394928e+02] [ 4.28386107e-03 -9.43244291e-05 9.99990820e-01 8.02307009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.248623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.84, Y:120.39, Z:0.80 [[-4.08732076e-01 -9.12652900e-01 1.66531253e-03 1.67836877e+02] [ 9.12644366e-01 -4.08735458e-01 -3.94804945e-03 1.20386666e+02] [ 4.28387106e-03 -9.38563514e-05 9.99990820e-01 8.02376661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.278623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.83, Y:120.39, Z:0.80 [[-4.08296058e-01 -9.12848044e-01 1.66677798e-03 1.67834386e+02] [ 9.12839513e-01 -4.08299450e-01 -3.94743067e-03 1.20393959e+02] [ 4.28394890e-03 -9.02195817e-05 9.99990820e-01 8.02178026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:120.39, Z:0.80 [[-4.07921445e-01 -9.13015505e-01 1.66824533e-03 1.67836016e+02] [ 9.13006978e-01 -4.07924847e-01 -3.94681045e-03 1.20390571e+02] [ 4.28401786e-03 -8.68689995e-05 9.99990820e-01 8.01948314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.84, Y:120.38, Z:0.80 [[-4.07575113e-01 -9.13170159e-01 1.66971719e-03 1.67839761e+02] [ 9.13161636e-01 -4.07578525e-01 -3.94618768e-03 1.20381022e+02] [ 4.28408170e-03 -8.36462095e-05 9.99990820e-01 8.01063119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36862385300003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:167.84, Y:120.39, Z:0.81 [[-4.06555830e-01 -9.13624411e-01 1.67118407e-03 1.67836432e+02] [ 9.13615894e-01 -4.06559258e-01 -3.94556636e-03 1.20387735e+02] [ 4.28420110e-03 -7.72726793e-05 9.99990820e-01 8.07450851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.398623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.84, Y:120.37, Z:0.80 [[-4.06677567e-01 -9.13570227e-01 1.67265168e-03 1.67842023e+02] [ 9.13561712e-01 -4.06680999e-01 -3.94494410e-03 1.20372558e+02] [ 4.28421913e-03 -7.62497379e-05 9.99990820e-01 8.01638025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.84, Y:120.38, Z:0.80 [[-4.06705195e-01 -9.13557925e-01 1.67411692e-03 1.67837859e+02] [ 9.13549413e-01 -4.06708633e-01 -3.94432219e-03 1.20383608e+02] [ 4.28424461e-03 -7.47877929e-05 9.99990820e-01 8.01251566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.458623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.84, Y:120.39, Z:0.80 [[-4.06078396e-01 -9.13836708e-01 1.67558264e-03 1.67835516e+02] [ 9.13828201e-01 -4.06081847e-01 -3.94369945e-03 1.20390704e+02] [ 4.28432101e-03 -7.02564800e-05 9.99990820e-01 8.00436499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.83, Y:120.40, Z:0.80 [[-4.05904781e-01 -9.13913834e-01 1.67706053e-03 1.67832080e+02] [ 9.13905330e-01 -4.05908240e-01 -3.94307087e-03 1.20397834e+02] [ 4.28435971e-03 -6.78367674e-05 9.99990820e-01 8.00732304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.83, Y:120.40, Z:0.80 [[-4.05504099e-01 -9.14091685e-01 1.67854955e-03 1.67832570e+02] [ 9.14083185e-01 -4.05507568e-01 -3.94243690e-03 1.20395895e+02] [ 4.28441334e-03 -6.43404020e-05 9.99990820e-01 8.00133705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.83, Y:120.40, Z:0.80 [[-4.04797754e-01 -9.14404700e-01 1.68004422e-03 1.67830146e+02] [ 9.14396206e-01 -4.04801236e-01 -3.94179985e-03 1.20400980e+02] [ 4.28448429e-03 -5.94056643e-05 9.99990820e-01 7.98433070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.578623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.83, Y:120.40, Z:0.80 [[-4.02851685e-01 -9.15263728e-01 1.68154285e-03 1.67831060e+02] [ 9.15255244e-01 -4.02855192e-01 -3.94116045e-03 1.20396612e+02] [ 4.28461947e-03 -4.86622149e-05 9.99990820e-01 7.99376466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.83, Y:120.40, Z:0.80 [[-4.01863039e-01 -9.15698239e-01 1.68304470e-03 1.67830674e+02] [ 9.15689762e-01 -4.01866561e-01 -3.94051899e-03 1.20397636e+02] [ 4.28468568e-03 -4.24021402e-05 9.99990820e-01 8.02145509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.638623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.83, Y:120.40, Z:0.80 [[-4.01229786e-01 -9.15975885e-01 1.68454729e-03 1.67829516e+02] [ 9.15967412e-01 -4.01233320e-01 -3.93987653e-03 1.20397924e+02] [ 4.28472840e-03 -3.78053918e-05 9.99990820e-01 7.99247408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.82, Y:120.41, Z:0.80 [[-3.99302370e-01 -9.16817743e-01 1.68605340e-03 1.67822241e+02] [ 9.16809281e-01 -3.99305929e-01 -3.93923190e-03 1.20411201e+02] [ 4.28480882e-03 -2.71552316e-05 9.99990820e-01 7.99164416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:120.40, Z:0.80 [[-3.98911872e-01 -9.16987716e-01 1.68757107e-03 1.67825087e+02] [ 9.16979258e-01 -3.98915440e-01 -3.93858162e-03 1.20401985e+02] [ 4.28482912e-03 -2.36792947e-05 9.99990820e-01 7.99073121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72862385300004 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:167.82, Y:120.41, Z:0.81 [[-3.98551815e-01 -9.17144262e-01 1.68909410e-03 1.67822589e+02] [ 9.17135808e-01 -3.98555394e-01 -3.93792834e-03 1.20407467e+02] [ 4.28484595e-03 -2.03398032e-05 9.99990820e-01 8.06296661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.758623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.83, Y:120.39, Z:0.80 [[-3.98441211e-01 -9.17192316e-01 1.69061791e-03 1.67828010e+02] [ 9.17183865e-01 -3.98444797e-01 -3.93727404e-03 1.20388050e+02] [ 4.28485540e-03 -1.81647672e-05 9.99990820e-01 8.01128891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78862385300005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.83, Y:120.37, Z:0.80 [[-3.98562578e-01 -9.17139579e-01 1.69213636e-03 1.67833459e+02] [ 9.17131131e-01 -3.98566170e-01 -3.93662134e-03 1.20374514e+02] [ 4.28485955e-03 -1.70790123e-05 9.99990820e-01 8.00933779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.818623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.83, Y:120.38, Z:0.80 [[-3.99485081e-01 -9.16738132e-01 1.69363798e-03 1.67829334e+02] [ 9.16729682e-01 -3.99488671e-01 -3.93597520e-03 1.20380429e+02] [ 4.28484773e-03 -1.97551670e-05 9.99990820e-01 8.01800802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84862385300005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.83, Y:120.38, Z:0.80 [[-4.00152498e-01 -9.16447001e-01 1.69513834e-03 1.67828773e+02] [ 9.16438551e-01 -4.00156088e-01 -3.93532892e-03 1.20380331e+02] [ 4.28484031e-03 -2.12415703e-05 9.99990820e-01 8.00698002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.878623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:167.83, Y:120.38, Z:0.80 [[-4.01089514e-01 -9.16037294e-01 1.69664495e-03 1.67829580e+02] [ 9.16028844e-01 -4.01093102e-01 -3.93467927e-03 1.20377177e+02] [ 4.28482553e-03 -2.39828837e-05 9.99990820e-01 8.03842252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.908623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.82, Y:120.39, Z:0.80 [[-4.02597105e-01 -9.15375708e-01 1.69815255e-03 1.67822753e+02] [ 9.15367255e-01 -4.02600685e-01 -3.93402850e-03 1.20388265e+02] [ 4.28479150e-03 -2.93952461e-05 9.99990820e-01 8.00210529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.938623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.83, Y:120.36, Z:0.80 [[-4.03836835e-01 -9.14829450e-01 1.69966747e-03 1.67834731e+02] [ 9.14820994e-01 -4.03840410e-01 -3.93337388e-03 1.20359273e+02] [ 4.28476067e-03 -3.35497695e-05 9.99990820e-01 8.00084793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.968623853 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:167.84, Y:120.35, Z:0.81 [[-4.05046993e-01 -9.14294285e-01 1.70117508e-03 1.67837544e+02] [ 9.14285827e-01 -4.05050564e-01 -3.93272174e-03 1.20353628e+02] [ 4.28472693e-03 -3.75768509e-05 9.99990820e-01 8.07511957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.998623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.84, Y:120.34, Z:0.80 [[-4.06681506e-01 -9.13568418e-01 1.70266435e-03 1.67844099e+02] [ 9.13559957e-01 -4.06685068e-01 -3.93207685e-03 1.20335251e+02] [ 4.28466939e-03 -4.36169629e-05 9.99990820e-01 8.00524560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.028623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.84, Y:120.34, Z:0.80 [[-4.09777437e-01 -9.12183944e-01 1.70414220e-03 1.67840586e+02] [ 9.12175474e-01 -4.09780977e-01 -3.93143625e-03 1.20342057e+02] [ 4.28451808e-03 -5.65371523e-05 9.99990820e-01 7.99840758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.85, Y:120.31, Z:0.80 [[-4.11677111e-01 -9.11328178e-01 1.70561668e-03 1.67853860e+02] [ 9.11319702e-01 -4.11680639e-01 -3.93079646e-03 1.20312426e+02] [ 4.28441494e-03 -6.38568449e-05 9.99990820e-01 7.99707960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.088623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.85, Y:120.33, Z:0.80 [[-4.13818124e-01 -9.10357977e-01 1.70708044e-03 1.67845679e+02] [ 9.10349496e-01 -4.13821639e-01 -3.93016067e-03 1.20332742e+02] [ 4.28427994e-03 -7.23319034e-05 9.99990820e-01 7.99164140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.86, Y:120.31, Z:0.80 [[-4.17832543e-01 -9.08522453e-01 1.70854088e-03 1.67857021e+02] [ 9.08513959e-01 -4.17836026e-01 -3.92952568e-03 1.20311062e+02] [ 4.28395224e-03 -8.96504675e-05 9.99990820e-01 7.98454896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.148623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.86, Y:120.31, Z:0.80 [[-4.18167900e-01 -9.08368143e-01 1.71000251e-03 1.67858086e+02] [ 9.08359651e-01 -4.18171387e-01 -3.92888952e-03 1.20308799e+02] [ 4.28395220e-03 -8.96381957e-05 9.99990820e-01 7.98444113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.86, Y:120.31, Z:0.80 [[-4.20142533e-01 -9.07456513e-01 1.71145266e-03 1.67860658e+02] [ 9.07448016e-01 -4.20146008e-01 -3.92825772e-03 1.20306234e+02] [ 4.28378306e-03 -9.73738272e-05 9.99990820e-01 7.98139878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.208623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.86, Y:120.30, Z:0.80 [[-4.22191965e-01 -9.06504832e-01 1.71290211e-03 1.67863704e+02] [ 9.06496330e-01 -4.22195427e-01 -3.92762559e-03 1.20302916e+02] [ 4.28359102e-03 -1.05472489e-04 9.99990820e-01 7.98368179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.87, Y:120.31, Z:0.80 [[-4.24915845e-01 -9.05231234e-01 1.71434971e-03 1.67865137e+02] [ 9.05222723e-01 -4.24919287e-01 -3.92699364e-03 1.20306080e+02] [ 4.28329755e-03 -1.16773503e-04 9.99990820e-01 7.99335600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.268623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:167.88, Y:120.29, Z:0.80 [[-4.26140618e-01 -9.04655310e-01 1.71579869e-03 1.67875026e+02] [ 9.04646798e-01 -4.26144055e-01 -3.92636044e-03 1.20287358e+02] [ 4.28318023e-03 -1.20989868e-04 9.99990820e-01 7.99741234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29862385300004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.88, Y:120.29, Z:0.80 [[-4.27465003e-01 -9.04030266e-01 1.71724075e-03 1.67877052e+02] [ 9.04021751e-01 -4.27468434e-01 -3.92572964e-03 1.20292216e+02] [ 4.28304462e-03 -1.25689039e-04 9.99990820e-01 8.01420732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.328623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.88, Y:120.29, Z:0.80 [[-4.28066611e-01 -9.03745552e-01 1.71867595e-03 1.67879231e+02] [ 9.03737037e-01 -4.28070042e-01 -3.92510121e-03 1.20291690e+02] [ 4.28300645e-03 -1.26973664e-04 9.99990820e-01 8.01572034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.88, Y:120.29, Z:0.80 [[-4.28509070e-01 -9.03535842e-01 1.72011456e-03 1.67883404e+02] [ 9.03527328e-01 -4.28512503e-01 -3.92447066e-03 1.20286227e+02] [ 4.28299050e-03 -1.27500762e-04 9.99990820e-01 8.02725714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.388623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.89, Y:120.29, Z:0.80 [[-4.28728056e-01 -9.03431951e-01 1.72155134e-03 1.67885469e+02] [ 9.03423439e-01 -4.28731494e-01 -3.92384028e-03 1.20285597e+02] [ 4.28300596e-03 -1.26970584e-04 9.99990820e-01 8.02755906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.89, Y:120.28, Z:0.80 [[-4.28208075e-01 -9.03678524e-01 1.72298652e-03 1.67889908e+02] [ 9.03670017e-01 -4.28211524e-01 -3.92320999e-03 1.20284437e+02] [ 4.28312329e-03 -1.22938944e-04 9.99990820e-01 8.00609820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.448623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:167.89, Y:120.29, Z:0.81 [[-4.27752795e-01 -9.03894116e-01 1.72442192e-03 1.67891179e+02] [ 9.03885612e-01 -4.27756254e-01 -3.92257896e-03 1.20287578e+02] [ 4.28322831e-03 -1.19213952e-04 9.99990820e-01 8.06544244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.89, Y:120.29, Z:0.80 [[-4.27188783e-01 -9.04160807e-01 1.72585914e-03 1.67891001e+02] [ 9.04152308e-01 -4.27192254e-01 -3.92194651e-03 1.20290443e+02] [ 4.28334398e-03 -1.14972030e-04 9.99990820e-01 8.00279420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.508623853 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:167.89, Y:120.30, Z:0.81 [[-4.24761435e-01 -9.05303673e-01 1.72730118e-03 1.67891856e+02] [ 9.05295186e-01 -4.24764935e-01 -3.92131131e-03 1.20299119e+02] [ 4.28367450e-03 -1.01904374e-04 9.99990820e-01 8.06897993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53862385300005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.89, Y:120.30, Z:0.80 [[-4.23135624e-01 -9.06064708e-01 1.72875109e-03 1.67893044e+02] [ 9.06056230e-01 -4.23139145e-01 -3.92067200e-03 1.20298867e+02] [ 4.28388479e-03 -9.26302977e-05 9.99990820e-01 8.01514588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.568623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.89, Y:120.31, Z:0.80 [[-4.21449818e-01 -9.06850075e-01 1.73020684e-03 1.67888105e+02] [ 9.06841606e-01 -4.21453361e-01 -3.92002946e-03 1.20312621e+02] [ 4.28408050e-03 -8.30721562e-05 9.99990820e-01 8.02165487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59862385300005 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:167.89, Y:120.31, Z:0.81 [[-4.19681908e-01 -9.07669597e-01 1.73167179e-03 1.67890012e+02] [ 9.07661138e-01 -4.19685474e-01 -3.91938222e-03 1.20312247e+02] [ 4.28426157e-03 -7.31226196e-05 9.99990820e-01 8.08591059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.628623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.89, Y:120.32, Z:0.80 [[-4.15621115e-01 -9.09536192e-01 1.73314654e-03 1.67888569e+02] [ 9.09527752e-01 -4.15624725e-01 -3.91872997e-03 1.20318154e+02] [ 4.28456529e-03 -5.23620442e-05 9.99990820e-01 8.01680345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.658623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.89, Y:120.32, Z:0.80 [[-4.13900432e-01 -9.10320506e-01 1.73462636e-03 1.67889765e+02] [ 9.10312075e-01 -4.13904065e-01 -3.91807482e-03 1.20317477e+02] [ 4.28467275e-03 -4.26415380e-05 9.99990820e-01 8.02463791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.688623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.88, Y:120.33, Z:0.80 [[-4.12162489e-01 -9.11108703e-01 1.73611129e-03 1.67884057e+02] [ 9.11100282e-01 -4.12166144e-01 -3.91741673e-03 1.20333001e+02] [ 4.28475877e-03 -3.28407402e-05 9.99990820e-01 8.02618906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.718623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.89, Y:120.33, Z:0.80 [[-4.10719135e-01 -9.11760261e-01 1.73760680e-03 1.67885529e+02] [ 9.11751848e-01 -4.10722810e-01 -3.91675327e-03 1.20332616e+02] [ 4.28481473e-03 -2.44193035e-05 9.99990820e-01 8.03036435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.748623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.89, Y:120.34, Z:0.80 [[-4.08245772e-01 -9.12870399e-01 1.73911354e-03 1.67885708e+02] [ 9.12861999e-01 -4.08249476e-01 -3.91608414e-03 1.20335592e+02] [ 4.28486948e-03 -1.11541236e-05 9.99990820e-01 8.03015873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.778623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:167.89, Y:120.33, Z:0.80 [[-4.07351292e-01 -9.13269892e-01 1.74062331e-03 1.67890270e+02] [ 9.13261498e-01 -4.07355011e-01 -3.91541296e-03 1.20327382e+02] [ 4.28488040e-03 -5.30427656e-06 9.99990820e-01 8.02567884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80862385300003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:167.90, Y:120.31, Z:0.80 [[-4.05439311e-01 -9.14120304e-01 1.74213180e-03 1.67902245e+02] [ 9.14111922e-01 -4.05443054e-01 -3.91474165e-03 1.20306197e+02] [ 4.28488007e-03 5.31329072e-06 9.99990820e-01 8.02225958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.838623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.91, Y:120.30, Z:0.80 [[-4.04738383e-01 -9.14430862e-01 1.74362456e-03 1.67905789e+02] [ 9.14422485e-01 -4.04742139e-01 -3.91407667e-03 1.20300230e+02] [ 4.28487083e-03 1.02324442e-05 9.99990820e-01 8.02006450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.91, Y:120.29, Z:0.80 [[-4.02395088e-01 -9.15464444e-01 1.74510311e-03 1.67911293e+02] [ 9.15456080e-01 -4.02398871e-01 -3.91341734e-03 1.20289103e+02] [ 4.28482195e-03 2.28253417e-05 9.99990820e-01 8.02141302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.898623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.91, Y:120.29, Z:0.80 [[-4.01260084e-01 -9.15962496e-01 1.74657346e-03 1.67910227e+02] [ 9.15954140e-01 -4.01263884e-01 -3.91276100e-03 1.20292086e+02] [ 4.28477919e-03 2.97463836e-05 9.99990820e-01 8.02105833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.91, Y:120.29, Z:0.80 [[-4.00328098e-01 -9.16370208e-01 1.74804141e-03 1.67910799e+02] [ 9.16361858e-01 -4.00331913e-01 -3.91210508e-03 1.20289065e+02] [ 4.28473331e-03 3.57128867e-05 9.99990820e-01 8.01748590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.958623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.92, Y:120.28, Z:0.80 [[-3.99204543e-01 -9.16860225e-01 1.74951175e-03 1.67916244e+02] [ 9.16851883e-01 -3.99208374e-01 -3.91144743e-03 1.20275509e+02] [ 4.28467031e-03 4.25755556e-05 9.99990820e-01 8.01587244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.91, Y:120.28, Z:0.80 [[-3.97134876e-01 -9.17758587e-01 1.75097562e-03 1.67912187e+02] [ 9.17750256e-01 -3.97138733e-01 -3.91079201e-03 1.20281575e+02] [ 4.28454319e-03 5.38464224e-05 9.99990820e-01 8.01136915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.018623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:167.91, Y:120.28, Z:0.80 [[-3.96658363e-01 -9.17964636e-01 1.75243759e-03 1.67910869e+02] [ 9.17956310e-01 -3.96662230e-01 -3.91013679e-03 1.20283108e+02] [ 4.28449309e-03 5.76726892e-05 9.99990820e-01 8.01381619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.92, Y:120.26, Z:0.80 [[-3.96299405e-01 -9.18119657e-01 1.75390671e-03 1.67918455e+02] [ 9.18111336e-01 -3.96303281e-01 -3.90947770e-03 1.20263799e+02] [ 4.28444731e-03 6.09579431e-05 9.99990820e-01 8.00859714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.078623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.91, Y:120.27, Z:0.80 [[-3.95528673e-01 -9.18451952e-01 1.75536819e-03 1.67913694e+02] [ 9.18443636e-01 -3.95532563e-01 -3.90882138e-03 1.20267190e+02] [ 4.28436990e-03 6.61558056e-05 9.99990820e-01 8.00189484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:120.27, Z:0.80 [[-3.95608961e-01 -9.18417369e-01 1.75682422e-03 1.67912091e+02] [ 9.18409056e-01 -3.95612856e-01 -3.90816685e-03 1.20267524e+02] [ 4.28435057e-03 6.73774498e-05 9.99990820e-01 8.00310722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.91, Y:120.27, Z:0.80 [[-3.95805535e-01 -9.18332667e-01 1.75828569e-03 1.67910849e+02] [ 9.18324356e-01 -3.95809434e-01 -3.90750923e-03 1.20266215e+02] [ 4.28433944e-03 6.80627942e-05 9.99990820e-01 8.00243471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.92, Y:120.25, Z:0.80 [[-3.96063656e-01 -9.18221370e-01 1.75974953e-03 1.67915420e+02] [ 9.18213061e-01 -3.96067559e-01 -3.90684988e-03 1.20248085e+02] [ 4.28433275e-03 6.84637528e-05 9.99990820e-01 7.98123151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.198623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.91, Y:120.26, Z:0.80 [[-3.96507072e-01 -9.18029978e-01 1.76120578e-03 1.67909214e+02] [ 9.18021670e-01 -3.96510978e-01 -3.90619329e-03 1.20257733e+02] [ 4.28433996e-03 6.79918003e-05 9.99990820e-01 7.97431179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22862385300004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:167.91, Y:120.25, Z:0.80 [[-3.97654190e-01 -9.17533671e-01 1.76266083e-03 1.67907474e+02] [ 9.17525361e-01 -3.97658092e-01 -3.90553659e-03 1.20252021e+02] [ 4.28439767e-03 6.42330267e-05 9.99990820e-01 7.97925105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.258623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:167.91, Y:120.25, Z:0.80 [[-3.98849689e-01 -9.17014620e-01 1.76412179e-03 1.67905844e+02] [ 9.17006308e-01 -3.98853586e-01 -3.90487657e-03 1.20250545e+02] [ 4.28445520e-03 6.02520060e-05 9.99990820e-01 7.99221472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.91, Y:120.25, Z:0.80 [[-4.00051272e-01 -9.16491060e-01 1.76558203e-03 1.67905494e+02] [ 9.16482746e-01 -4.00055164e-01 -3.90421621e-03 1.20247456e+02] [ 4.28450946e-03 5.62388033e-05 9.99990820e-01 7.98499566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.318623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.90, Y:120.25, Z:0.80 [[-4.03003133e-01 -9.15196893e-01 1.76704319e-03 1.67898692e+02] [ 9.15188569e-01 -4.03007004e-01 -3.90355478e-03 1.20254242e+02] [ 4.28465199e-03 4.40329253e-05 9.99990820e-01 7.99523606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.90, Y:120.25, Z:0.80 [[-4.04672323e-01 -9.14460050e-01 1.76850983e-03 1.67900588e+02] [ 9.14451722e-01 -4.04676186e-01 -3.90289020e-03 1.20245878e+02] [ 4.28471098e-03 3.78252150e-05 9.99990820e-01 7.99616682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.378623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.89, Y:120.26, Z:0.80 [[-4.06570359e-01 -9.13617760e-01 1.76997934e-03 1.67892860e+02] [ 9.13609427e-01 -4.06574210e-01 -3.90222366e-03 1.20257719e+02] [ 4.28476879e-03 3.05413348e-05 9.99990820e-01 7.99084741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.408623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.89, Y:120.25, Z:0.80 [[-4.08353899e-01 -9.12821974e-01 1.77145438e-03 1.67892674e+02] [ 9.12813636e-01 -4.08357740e-01 -3.90155393e-03 1.20252824e+02] [ 4.28481127e-03 2.37929555e-05 9.99990820e-01 7.98353223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.438623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:167.88, Y:120.27, Z:0.80 [[-4.11694693e-01 -9.11320106e-01 1.77293671e-03 1.67880162e+02] [ 9.11311758e-01 -4.11698510e-01 -3.90088022e-03 1.20269562e+02] [ 4.28486598e-03 9.72638535e-06 9.99990820e-01 7.96571843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.468623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:167.88, Y:120.26, Z:0.80 [[-4.13457299e-01 -9.10521781e-01 1.77443012e-03 1.67882085e+02] [ 9.10513427e-01 -4.13461107e-01 -3.90020078e-03 1.20260350e+02] [ 4.28487560e-03 3.07596482e-06 9.99990820e-01 7.96080287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.498623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.88, Y:120.27, Z:0.79 [[-4.16467505e-01 -9.09148867e-01 1.77593200e-03 1.67875462e+02] [ 9.09140505e-01 -4.16471292e-01 -3.89951679e-03 1.20266877e+02] [ 4.28486597e-03 -9.45031502e-06 9.99990820e-01 7.94976795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.528623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.88, Y:120.25, Z:0.79 [[-4.18255776e-01 -9.08327555e-01 1.77743639e-03 1.67880317e+02] [ 9.08319187e-01 -4.18259553e-01 -3.89883096e-03 1.20251133e+02] [ 4.28484534e-03 -1.62289938e-05 9.99990820e-01 7.94599526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.89, Y:120.23, Z:0.80 [[-4.20003053e-01 -9.07520948e-01 1.77893899e-03 1.67888030e+02] [ 9.07512576e-01 -4.20006819e-01 -3.89814524e-03 1.20228627e+02] [ 4.28481497e-03 -2.28233953e-05 9.99990820e-01 7.95231621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.588623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.88, Y:120.23, Z:0.79 [[-4.23194793e-01 -9.06036973e-01 1.78042222e-03 1.67881233e+02] [ 9.06028591e-01 -4.23198537e-01 -3.89746767e-03 1.20234140e+02] [ 4.28472189e-03 -3.62745927e-05 9.99990820e-01 7.93604535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61862385300003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.88, Y:120.22, Z:0.79 [[-4.25043453e-01 -9.05171193e-01 1.78189933e-03 1.67884760e+02] [ 9.05162806e-01 -4.25047186e-01 -3.89679223e-03 1.20222413e+02] [ 4.28465537e-03 -4.33970268e-05 9.99990820e-01 7.93709108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.89, Y:120.20, Z:0.79 [[-4.26783997e-01 -9.04351834e-01 1.78337668e-03 1.67892202e+02] [ 9.04343443e-01 -4.26787720e-01 -3.89611600e-03 1.20202896e+02] [ 4.28458292e-03 -5.00149527e-05 9.99990820e-01 7.93896952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.89, Y:120.19, Z:0.79 [[-4.30134572e-01 -9.02763017e-01 1.78483886e-03 1.67894577e+02] [ 9.02754615e-01 -4.30138270e-01 -3.89544605e-03 1.20190495e+02] [ 4.28439213e-03 -6.42945055e-05 9.99990820e-01 7.93978004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.708623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.90, Y:120.18, Z:0.79 [[-4.31754202e-01 -9.01989533e-01 1.78628639e-03 1.67896035e+02] [ 9.01981127e-01 -4.31757891e-01 -3.89478216e-03 1.20183535e+02] [ 4.28429599e-03 -7.03919536e-05 9.99990820e-01 7.94456346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.90, Y:120.17, Z:0.80 [[-4.33573008e-01 -9.01116669e-01 1.78772648e-03 1.67898527e+02] [ 9.01108258e-01 -4.33576687e-01 -3.89412104e-03 1.20173620e+02] [ 4.28417390e-03 -7.74506837e-05 9.99990820e-01 7.95439513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.768623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.90, Y:120.18, Z:0.80 [[-4.35199604e-01 -9.00332219e-01 1.78916011e-03 1.67895824e+02] [ 9.00323804e-01 -4.35203273e-01 -3.89346224e-03 1.20175901e+02] [ 4.28405784e-03 -8.36097837e-05 9.99990820e-01 7.95376607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.89, Y:120.18, Z:0.80 [[-4.38070585e-01 -8.98938794e-01 1.79059259e-03 1.67894018e+02] [ 8.98930371e-01 -4.38074234e-01 -3.89280334e-03 1.20175153e+02] [ 4.28380442e-03 -9.57045781e-05 9.99990820e-01 7.95929054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.828623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.90, Y:120.15, Z:0.80 [[-4.39588239e-01 -8.98197622e-01 1.79202894e-03 1.67902802e+02] [ 8.98189195e-01 -4.39591880e-01 -3.89214201e-03 1.20154191e+02] [ 4.28367407e-03 -1.01358819e-04 9.99990820e-01 7.95288003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85862385300004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:167.90, Y:120.15, Z:0.79 [[-4.40919867e-01 -8.97544681e-01 1.79345638e-03 1.67902542e+02] [ 8.97536251e-01 -4.40923502e-01 -3.89148415e-03 1.20153728e+02] [ 4.28355797e-03 -1.06140565e-04 9.99990820e-01 7.94877969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.888623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.91, Y:120.14, Z:0.79 [[-4.43336135e-01 -8.96353641e-01 1.79487475e-03 1.67906457e+02] [ 8.96345204e-01 -4.43339754e-01 -3.89082984e-03 1.20143189e+02] [ 4.28329883e-03 -1.16118093e-04 9.99990820e-01 7.94960982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.90, Y:120.15, Z:0.79 [[-4.44618459e-01 -8.95718259e-01 1.79628932e-03 1.67904544e+02] [ 8.95709820e-01 -4.44622071e-01 -3.89017667e-03 1.20146222e+02] [ 4.28317215e-03 -1.20690376e-04 9.99990820e-01 7.94709790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.948623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:167.92, Y:120.12, Z:0.79 [[-4.45789747e-01 -8.95135895e-01 1.79770274e-03 1.67915402e+02] [ 8.95127453e-01 -4.45793354e-01 -3.88952339e-03 1.20122910e+02] [ 4.28305594e-03 -1.24736572e-04 9.99990820e-01 7.94542316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.91, Y:120.14, Z:0.79 [[-4.47166042e-01 -8.94449157e-01 1.79910708e-03 1.67906015e+02] [ 8.94440712e-01 -4.47169643e-01 -3.88887371e-03 1.20144631e+02] [ 4.28290588e-03 -1.29777645e-04 9.99990820e-01 7.91306467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.008623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.91, Y:120.14, Z:0.79 [[-4.47867943e-01 -8.94097905e-01 1.80051272e-03 1.67907631e+02] [ 8.94089460e-01 -4.47871543e-01 -3.88822280e-03 1.20142788e+02] [ 4.28285027e-03 -1.31590900e-04 9.99990820e-01 7.91638440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03862385300005 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:167.93, Y:120.11, Z:0.80 [[-4.48641826e-01 -8.93709833e-01 1.80193126e-03 1.67925124e+02] [ 8.93701387e-01 -4.48645425e-01 -3.88756529e-03 1.20107286e+02] [ 4.28278354e-03 -1.33735921e-04 9.99990820e-01 7.99798865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.068623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.92, Y:120.12, Z:0.79 [[-4.48844057e-01 -8.93608283e-01 1.80245490e-03 1.67919404e+02] [ 8.93599838e-01 -4.48847656e-01 -3.88732249e-03 1.20122502e+02] [ 4.28277124e-03 -1.34128195e-04 9.99990820e-01 7.92880067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.92, Y:120.12, Z:0.79 [[-4.49165963e-01 -8.93446520e-01 1.80384601e-03 1.67920527e+02] [ 8.93438076e-01 -4.49169565e-01 -3.88667687e-03 1.20120257e+02] [ 4.28277065e-03 -1.34138251e-04 9.99990820e-01 7.92869285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.128623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.92, Y:120.12, Z:0.79 [[-4.49255141e-01 -8.93401678e-01 1.80524602e-03 1.67919748e+02] [ 8.93393237e-01 -4.49258749e-01 -3.88602649e-03 1.20124814e+02] [ 4.28280516e-03 -1.33022797e-04 9.99990820e-01 7.93203637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.158623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.92, Y:120.12, Z:0.79 [[-4.49191437e-01 -8.93433707e-01 1.80664909e-03 1.67923131e+02] [ 8.93425269e-01 -4.49195051e-01 -3.88537408e-03 1.20120500e+02] [ 4.28286200e-03 -1.31170814e-04 9.99990820e-01 7.94060300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.188623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.93, Y:120.12, Z:0.79 [[-4.48016713e-01 -8.94023353e-01 1.80805391e-03 1.67927294e+02] [ 8.94014922e-01 -4.48020344e-01 -3.88472024e-03 1.20115573e+02] [ 4.28307555e-03 -1.23992417e-04 9.99990820e-01 7.94129671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.218623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.92, Y:120.14, Z:0.79 [[-4.47369989e-01 -8.94347147e-01 1.80945563e-03 1.67919252e+02] [ 8.94338720e-01 -4.47373633e-01 -3.88406723e-03 1.20136162e+02] [ 4.28320718e-03 -1.19348885e-04 9.99990820e-01 7.94417941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.248623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:167.93, Y:120.12, Z:0.80 [[-4.46904453e-01 -8.94579863e-01 1.81086728e-03 1.67930594e+02] [ 8.94571441e-01 -4.46908107e-01 -3.88340896e-03 1.20115551e+02] [ 4.28331072e-03 -1.15562605e-04 9.99990820e-01 7.99182129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.278623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.92, Y:120.14, Z:0.79 [[-4.45805687e-01 -8.95127927e-01 1.81228025e-03 1.67922222e+02] [ 8.95119512e-01 -4.45809357e-01 -3.88274946e-03 1.20136442e+02] [ 4.28348896e-03 -1.08744374e-04 9.99990820e-01 7.94165610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.93, Y:120.13, Z:0.79 [[-4.43162679e-01 -8.96439374e-01 1.81369478e-03 1.67925911e+02] [ 8.96430973e-01 -4.43166380e-01 -3.88208859e-03 1.20133468e+02] [ 4.28382562e-03 -9.45446026e-05 9.99990820e-01 7.94090174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.338623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.92, Y:120.15, Z:0.79 [[-4.41741295e-01 -8.97140643e-01 1.81512056e-03 1.67921918e+02] [ 8.97132251e-01 -4.41745016e-01 -3.88142184e-03 1.20145108e+02] [ 4.28400174e-03 -8.61811128e-05 9.99990820e-01 7.93987714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.92, Y:120.16, Z:0.80 [[-4.37997885e-01 -8.98974167e-01 1.81655271e-03 1.67916539e+02] [ 8.98965793e-01 -4.38001647e-01 -3.88075146e-03 1.20160742e+02] [ 4.28434839e-03 -6.67421811e-05 9.99990820e-01 7.95284627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.92, Y:120.15, Z:0.80 [[-4.36074373e-01 -8.99908793e-01 1.81800180e-03 1.67920561e+02] [ 8.99900430e-01 -4.36078159e-01 -3.88007249e-03 1.20152700e+02] [ 4.28450223e-03 -5.59795694e-05 9.99990820e-01 7.96298199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42862385300003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:167.91, Y:120.17, Z:0.80 [[-4.34115746e-01 -9.00855265e-01 1.81945748e-03 1.67914094e+02] [ 9.00846913e-01 -4.34119556e-01 -3.87938977e-03 1.20166666e+02] [ 4.28463077e-03 -4.50515287e-05 9.99990820e-01 8.04308292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.91, Y:120.17, Z:0.80 [[-4.29716095e-01 -9.02962215e-01 1.82091861e-03 1.67913708e+02] [ 9.02953885e-01 -4.29719952e-01 -3.87870382e-03 1.20168528e+02] [ 4.28480805e-03 -2.25359250e-05 9.99990820e-01 7.96286335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.91, Y:120.17, Z:0.80 [[-4.28142155e-01 -9.03709563e-01 1.82239127e-03 1.67911681e+02] [ 9.03701242e-01 -4.28146034e-01 -3.87801177e-03 1.20172996e+02] [ 4.28484592e-03 -1.34430645e-05 9.99990820e-01 7.96212806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.91, Y:120.18, Z:0.80 [[-4.26698970e-01 -9.04391874e-01 1.82387001e-03 1.67908631e+02] [ 9.04383563e-01 -4.26702868e-01 -3.87731618e-03 1.20179020e+02] [ 4.28486381e-03 -4.96876310e-06 9.99990820e-01 7.95629479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.91, Y:120.17, Z:0.79 [[-4.24269526e-01 -9.05534117e-01 1.82535760e-03 1.67909850e+02] [ 9.05525819e-01 -4.24273452e-01 -3.87661573e-03 1.20174805e+02] [ 4.28485857e-03 8.17852305e-06 9.99990820e-01 7.94087692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.578623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:167.91, Y:120.16, Z:0.80 [[-4.24038731e-01 -9.05642213e-01 1.82684889e-03 1.67913680e+02] [ 9.05633919e-01 -4.24042666e-01 -3.87591283e-03 1.20164975e+02] [ 4.28485215e-03 1.09191604e-05 9.99990820e-01 8.00764618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:167.92, Y:120.16, Z:0.79 [[-4.23568574e-01 -9.05862197e-01 1.82833445e-03 1.67915249e+02] [ 9.05853908e-01 -4.23572520e-01 -3.87521194e-03 1.20161280e+02] [ 4.28484023e-03 1.47859077e-05 9.99990820e-01 7.92047647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.638623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.91, Y:120.17, Z:0.79 [[-4.23110657e-01 -9.06076169e-01 1.82981481e-03 1.67910558e+02] [ 9.06067885e-01 -4.23114613e-01 -3.87451281e-03 1.20169008e+02] [ 4.28482511e-03 1.85887772e-05 9.99990820e-01 7.93255435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.91, Y:120.17, Z:0.79 [[-4.23105469e-01 -9.06078589e-01 1.83130033e-03 1.67908984e+02] [ 9.06070308e-01 -4.23109431e-01 -3.87381055e-03 1.20171891e+02] [ 4.28481724e-03 2.02564302e-05 9.99990820e-01 7.92936744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.698623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.91, Y:120.16, Z:0.79 [[-4.23180793e-01 -9.06043408e-01 1.83279479e-03 1.67912322e+02] [ 9.06035130e-01 -4.23184761e-01 -3.87310335e-03 1.20163987e+02] [ 4.28481059e-03 2.15535209e-05 9.99990820e-01 7.93330266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.91, Y:120.16, Z:0.79 [[-4.23071563e-01 -9.06094415e-01 1.83428898e-03 1.67910489e+02] [ 9.06086140e-01 -4.23075538e-01 -3.87239558e-03 1.20163168e+02] [ 4.28479880e-03 2.37233696e-05 9.99990820e-01 7.93333758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.758623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.91, Y:120.16, Z:0.79 [[-4.23163964e-01 -9.06051262e-01 1.83578088e-03 1.67911844e+02] [ 9.06042990e-01 -4.23167945e-01 -3.87168819e-03 1.20157842e+02] [ 4.28479159e-03 2.49374754e-05 9.99990820e-01 7.93710569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78862385300005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.91, Y:120.15, Z:0.79 [[-4.23350431e-01 -9.05964148e-01 1.83727251e-03 1.67914012e+02] [ 9.05955878e-01 -4.23354417e-01 -3.87098022e-03 1.20150095e+02] [ 4.28478673e-03 2.57066809e-05 9.99990820e-01 7.94008532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.818623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.91, Y:120.15, Z:0.79 [[-4.23843633e-01 -9.05733511e-01 1.83875889e-03 1.67914391e+02] [ 9.05725243e-01 -4.23847621e-01 -3.87027404e-03 1.20147240e+02] [ 4.28479048e-03 2.50193302e-05 9.99990820e-01 7.94547029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:120.15, Z:0.79 [[-4.24459802e-01 -9.05444913e-01 1.84024229e-03 1.67912244e+02] [ 9.05436644e-01 -4.24463791e-01 -3.86956859e-03 1.20148486e+02] [ 4.28479741e-03 2.37464840e-05 9.99990820e-01 7.94319528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.878623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.91, Y:120.15, Z:0.79 [[-4.25344545e-01 -9.05029627e-01 1.84172763e-03 1.67909559e+02] [ 9.05021358e-01 -4.25348532e-01 -3.86886151e-03 1.20150100e+02] [ 4.28481043e-03 2.12037043e-05 9.99990820e-01 7.94842197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.908623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.91, Y:120.15, Z:0.80 [[-4.26810731e-01 -9.04339097e-01 1.84321817e-03 1.67905587e+02] [ 9.04330825e-01 -4.26814711e-01 -3.86815125e-03 1.20152098e+02] [ 4.28483304e-03 1.59105449e-05 9.99990820e-01 7.95329271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.938623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.91, Y:120.14, Z:0.80 [[-4.27770232e-01 -9.03885626e-01 1.84471444e-03 1.67910717e+02] [ 9.03877353e-01 -4.27774209e-01 -3.86743755e-03 1.20138905e+02] [ 4.28484247e-03 1.30209485e-05 9.99990820e-01 7.95217833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.968623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.92, Y:120.12, Z:0.80 [[-4.28803600e-01 -9.03395851e-01 1.84620718e-03 1.67918629e+02] [ 9.03387576e-01 -4.28807575e-01 -3.86672483e-03 1.20119596e+02] [ 4.28485079e-03 9.77509763e-06 9.99990820e-01 7.95204509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:120.13, Z:0.80 [[-4.29793048e-01 -9.02925535e-01 1.84768331e-03 1.67914279e+02] [ 9.02917258e-01 -4.29797020e-01 -3.86601934e-03 1.20125854e+02] [ 4.28485636e-03 6.71691349e-06 9.99990820e-01 7.95139666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.028623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.92, Y:120.11, Z:0.79 [[-4.31505391e-01 -9.02108463e-01 1.84915480e-03 1.67917023e+02] [ 9.02100182e-01 -4.31509353e-01 -3.86531538e-03 1.20114229e+02] [ 4.28486131e-03 2.18449918e-07 9.99990820e-01 7.93355033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.92, Y:120.11, Z:0.79 [[-4.32559356e-01 -9.01603559e-01 1.85062650e-03 1.67915290e+02] [ 9.01595277e-01 -4.32563315e-01 -3.86461064e-03 1.20114459e+02] [ 4.28485984e-03 -3.15737795e-06 9.99990820e-01 7.93055449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.088623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.91, Y:120.12, Z:0.79 [[-4.34389916e-01 -9.00723027e-01 1.85209478e-03 1.67907848e+02] [ 9.00714739e-01 -4.34393864e-01 -3.86390684e-03 1.20122745e+02] [ 4.28484847e-03 -1.02331040e-05 9.99990820e-01 7.90353430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:120.11, Z:0.79 [[-4.35775997e-01 -9.00053246e-01 1.85357181e-03 1.67914661e+02] [ 9.00044955e-01 -4.35779939e-01 -3.86319816e-03 1.20105163e+02] [ 4.28483345e-03 -1.51910726e-05 9.99990820e-01 7.90163510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.92, Y:120.09, Z:0.79 [[-4.37167910e-01 -8.99377995e-01 1.85504709e-03 1.67919884e+02] [ 8.99369701e-01 -4.37171846e-01 -3.86248962e-03 1.20091843e+02] [ 4.28481253e-03 -2.01833714e-05 9.99990820e-01 7.90296748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:120.08, Z:0.79 [[-4.39876987e-01 -8.98056117e-01 1.85650710e-03 1.67921574e+02] [ 8.98047815e-01 -4.39880904e-01 -3.86178774e-03 1.20082865e+02] [ 4.28474413e-03 -3.14794115e-05 9.99990820e-01 7.92076242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.92, Y:120.09, Z:0.79 [[-4.41455373e-01 -8.97281284e-01 1.85795756e-03 1.67917862e+02] [ 8.97272977e-01 -4.41459281e-01 -3.86108978e-03 1.20086704e+02] [ 4.28469620e-03 -3.74037223e-05 9.99990820e-01 7.92746280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.93, Y:120.06, Z:0.79 [[-4.43765811e-01 -8.96140864e-01 1.85940822e-03 1.67925982e+02] [ 8.96132550e-01 -4.43769704e-01 -3.86039105e-03 1.20064041e+02] [ 4.28460321e-03 -4.68333316e-05 9.99990820e-01 7.94184892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.92, Y:120.08, Z:0.79 [[-4.45014429e-01 -8.95521466e-01 1.86085134e-03 1.67919393e+02] [ 8.95513149e-01 -4.45018317e-01 -3.85969529e-03 1.20075687e+02] [ 4.28455291e-03 -5.12032556e-05 9.99990820e-01 7.94424890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.93, Y:120.06, Z:0.79 [[-4.46377519e-01 -8.94842803e-01 1.86229162e-03 1.67926375e+02] [ 8.94834484e-01 -4.46381400e-01 -3.85900023e-03 1.20059444e+02] [ 4.28449093e-03 -5.61281921e-05 9.99990820e-01 7.94954253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.328623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.94, Y:120.04, Z:0.80 [[-4.47729191e-01 -8.94167265e-01 1.86373164e-03 1.67935071e+02] [ 8.94158943e-01 -4.47733066e-01 -3.85830464e-03 1.20039416e+02] [ 4.28442399e-03 -6.10033023e-05 9.99990820e-01 7.95088164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.93, Y:120.05, Z:0.80 [[-4.49015054e-01 -8.93522245e-01 1.86515412e-03 1.67930855e+02] [ 8.93513920e-01 -4.49018923e-01 -3.85761687e-03 1.20047048e+02] [ 4.28435598e-03 -6.55868746e-05 9.99990820e-01 7.95852126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.388623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.93, Y:120.04, Z:0.80 [[-4.51257885e-01 -8.92391639e-01 1.86657248e-03 1.67932139e+02] [ 8.92383307e-01 -4.51261739e-01 -3.85693045e-03 1.20044241e+02] [ 4.28420523e-03 -7.47721520e-05 9.99990820e-01 7.95061125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.93, Y:120.04, Z:0.79 [[-4.52779946e-01 -8.91620340e-01 1.86799605e-03 1.67934394e+02] [ 8.91612005e-01 -4.52783792e-01 -3.85624086e-03 1.20040427e+02] [ 4.28410113e-03 -8.05008284e-05 9.99990820e-01 7.93904987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.448623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.94, Y:120.03, Z:0.79 [[-4.54318748e-01 -8.90837236e-01 1.86941777e-03 1.67938645e+02] [ 8.90828896e-01 -4.54322586e-01 -3.85555152e-03 1.20032395e+02] [ 4.28398758e-03 -8.63179729e-05 9.99990820e-01 7.93614335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:167.95, Y:120.01, Z:0.80 [[-4.57643747e-01 -8.89133680e-01 1.87083537e-03 1.67948944e+02] [ 8.89125329e-01 -4.57647560e-01 -3.85486353e-03 1.20011601e+02] [ 4.28367224e-03 -1.00747078e-04 9.99990820e-01 7.99051432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.508623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.95, Y:120.01, Z:0.79 [[-4.59094383e-01 -8.88385526e-01 1.87206219e-03 1.67952522e+02] [ 8.88377172e-01 -4.59098187e-01 -3.85426765e-03 1.20007766e+02] [ 4.28353596e-03 -1.06375312e-04 9.99990820e-01 7.91515755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53862385300005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:167.95, Y:120.02, Z:0.79 [[-4.62021258e-01 -8.86866871e-01 1.87345379e-03 1.67947458e+02] [ 8.86858507e-01 -4.62025041e-01 -3.85359112e-03 1.20024855e+02] [ 4.28320486e-03 -1.18952585e-04 9.99990820e-01 7.93286889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.568623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.97, Y:119.99, Z:0.79 [[-4.62793283e-01 -8.86464248e-01 1.87485347e-03 1.67965719e+02] [ 8.86455883e-01 -4.62797065e-01 -3.85291002e-03 1.19990844e+02] [ 4.28314367e-03 -1.21125991e-04 9.99990820e-01 7.93385852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.96, Y:120.00, Z:0.79 [[-4.63993501e-01 -8.85836622e-01 1.87346505e-03 1.67960837e+02] [ 8.85828250e-01 -4.63997265e-01 -3.85358502e-03 1.20004184e+02] [ 4.28292940e-03 -1.28470135e-04 9.99990820e-01 7.93427063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.628623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:167.96, Y:120.01, Z:0.79 [[-4.65275682e-01 -8.85163841e-01 1.87484322e-03 1.67962868e+02] [ 8.85155465e-01 -4.65279440e-01 -3.85291440e-03 1.20007740e+02] [ 4.28278651e-03 -1.33139655e-04 9.99990820e-01 7.94431626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.658623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.97, Y:120.00, Z:0.79 [[-4.65741041e-01 -8.84919071e-01 1.87623106e-03 1.67970917e+02] [ 8.84910696e-01 -4.65744801e-01 -3.85223845e-03 1.19995962e+02] [ 4.28276413e-03 -1.33848619e-04 9.99990820e-01 7.92337586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.688623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.97, Y:120.00, Z:0.79 [[-4.66185424e-01 -8.84685043e-01 1.87761520e-03 1.67973287e+02] [ 8.84676669e-01 -4.66189186e-01 -3.85156369e-03 1.19995288e+02] [ 4.28274469e-03 -1.34460497e-04 9.99990820e-01 7.92770662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:120.01, Z:0.79 [[-4.66054515e-01 -8.84754010e-01 1.87899436e-03 1.67969067e+02] [ 8.84745639e-01 -4.66058284e-01 -3.85089074e-03 1.20012532e+02] [ 4.28281192e-03 -1.32292950e-04 9.99990820e-01 7.93196064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.98, Y:120.00, Z:0.79 [[-4.66006326e-01 -8.84779390e-01 1.88038278e-03 1.67976641e+02] [ 8.84771022e-01 -4.66010102e-01 -3.85021266e-03 1.20002345e+02] [ 4.28286618e-03 -1.30515259e-04 9.99990820e-01 7.93369992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.778623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:167.98, Y:120.01, Z:0.79 [[-4.66111729e-01 -8.84723864e-01 1.88177576e-03 1.67978202e+02] [ 8.84715498e-01 -4.66115510e-01 -3.84953173e-03 1.20005491e+02] [ 4.28289745e-03 -1.29475715e-04 9.99990820e-01 7.93415978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.98, Y:120.01, Z:0.79 [[-4.66211276e-01 -8.84671408e-01 1.88316608e-03 1.67978654e+02] [ 8.84663045e-01 -4.66215062e-01 -3.84885147e-03 1.20010659e+02] [ 4.28292924e-03 -1.28410519e-04 9.99990820e-01 7.94130815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.838623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:167.98, Y:120.02, Z:0.79 [[-4.66353076e-01 -8.84596664e-01 1.88456206e-03 1.67981457e+02] [ 8.84588303e-01 -4.66356866e-01 -3.84816782e-03 1.20017999e+02] [ 4.28295487e-03 -1.27543347e-04 9.99990820e-01 7.93543505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86862385300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:167.99, Y:120.00, Z:0.80 [[-4.66953040e-01 -8.84280104e-01 1.88596463e-03 1.67990685e+02] [ 8.84271743e-01 -4.66956831e-01 -3.84748031e-03 1.20004946e+02] [ 4.28291435e-03 -1.28887394e-04 9.99990820e-01 8.02278883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.898623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:168.00, Y:119.99, Z:0.79 [[-4.66994326e-01 -8.84258298e-01 1.88736452e-03 1.68000449e+02] [ 8.84249940e-01 -4.66998122e-01 -3.84679348e-03 1.19994418e+02] [ 4.28295474e-03 -1.27528767e-04 9.99990820e-01 7.93206794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.01, Y:120.00, Z:0.79 [[-4.66796163e-01 -8.84362922e-01 1.88797042e-03 1.68006868e+02] [ 8.84354566e-01 -4.66799964e-01 -3.84649608e-03 1.19995616e+02] [ 4.28300304e-03 -1.25894348e-04 9.99990820e-01 7.92877947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.01, Y:119.99, Z:0.79 [[-4.67114391e-01 -8.84194875e-01 1.88935400e-03 1.68008038e+02] [ 8.84186520e-01 -4.67118195e-01 -3.84581636e-03 1.19993403e+02] [ 4.28300275e-03 -1.25894825e-04 9.99990820e-01 7.92867166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.00, Y:120.03, Z:0.79 [[-4.66695460e-01 -8.84416063e-01 1.89073777e-03 1.67995781e+02] [ 8.84407713e-01 -4.66699274e-01 -3.84513593e-03 1.20025166e+02] [ 4.28310593e-03 -1.22324409e-04 9.99990820e-01 7.93903490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.018623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:168.01, Y:120.02, Z:0.80 [[-4.65130320e-01 -8.85240196e-01 1.89213859e-03 1.68007037e+02] [ 8.85231856e-01 -4.65134155e-01 -3.84444649e-03 1.20015347e+02] [ 4.28335684e-03 -1.13187272e-04 9.99990820e-01 8.00885641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:168.01, Y:120.01, Z:0.79 [[-4.63841517e-01 -8.85916171e-01 1.89355144e-03 1.68012140e+02] [ 8.85907839e-01 -4.63845370e-01 -3.84375047e-03 1.20013369e+02] [ 4.28355577e-03 -1.05378986e-04 9.99990820e-01 7.94524384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.078623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:168.01, Y:120.03, Z:0.80 [[-4.62543485e-01 -8.86594571e-01 1.89495774e-03 1.68007677e+02] [ 8.86586247e-01 -4.62547357e-01 -3.84305704e-03 1.20029257e+02] [ 4.28374120e-03 -9.75375260e-05 9.99990820e-01 7.95986649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.01, Y:120.03, Z:0.80 [[-4.58756203e-01 -8.88560155e-01 1.89637256e-03 1.68011337e+02] [ 8.88551851e-01 -4.58760116e-01 -3.84235877e-03 1.20033256e+02] [ 4.28414700e-03 -7.76805675e-05 9.99990820e-01 7.95100429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.138623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.01, Y:120.05, Z:0.79 [[-4.56775687e-01 -8.89579884e-01 1.89779875e-03 1.68007335e+02] [ 8.89571592e-01 -4.56779624e-01 -3.84165422e-03 1.20045955e+02] [ 4.28433412e-03 -6.65463951e-05 9.99990820e-01 7.94933088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.00, Y:120.06, Z:0.79 [[-4.54828353e-01 -8.90577095e-01 1.89923485e-03 1.68002915e+02] [ 8.90568814e-01 -4.54832315e-01 -3.84094411e-03 1.20059263e+02] [ 4.28449023e-03 -5.55709574e-05 9.99990820e-01 7.94072249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.198623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.01, Y:120.05, Z:0.79 [[-4.50725066e-01 -8.92660799e-01 1.90068719e-03 1.68011917e+02] [ 8.92652540e-01 -4.50729072e-01 -3.84022529e-03 1.20050561e+02] [ 4.28471355e-03 -3.42325524e-05 9.99990820e-01 7.93238535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.00, Y:120.07, Z:0.79 [[-4.49238671e-01 -8.93409760e-01 1.90214307e-03 1.68003473e+02] [ 8.93401510e-01 -4.49242697e-01 -3.83950403e-03 1.20072879e+02] [ 4.28477425e-03 -2.54761974e-05 9.99990820e-01 7.93968562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.258623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.01, Y:120.07, Z:0.79 [[-4.47942709e-01 -8.94060236e-01 1.90360760e-03 1.68008538e+02] [ 8.94051995e-01 -4.47946754e-01 -3.83877778e-03 1.20068268e+02] [ 4.28481341e-03 -1.76283485e-05 9.99990820e-01 7.94435050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28862385300005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.01, Y:120.07, Z:0.80 [[-4.47089217e-01 -8.94487341e-01 1.90508382e-03 1.68010546e+02] [ 8.94479107e-01 -4.47093275e-01 -3.83804503e-03 1.20068213e+02] [ 4.28483286e-03 -1.18908755e-05 9.99990820e-01 7.98466753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.318623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.01, Y:120.07, Z:0.80 [[-4.45475547e-01 -8.95292076e-01 1.90655854e-03 1.68014297e+02] [ 8.95283853e-01 -4.45479627e-01 -3.83731232e-03 1.20070372e+02] [ 4.28484830e-03 -2.51773644e-06 9.99990820e-01 7.97027073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.02, Y:120.06, Z:0.80 [[-4.45148105e-01 -8.95454926e-01 1.90803518e-03 1.68019373e+02] [ 8.95446707e-01 -4.45152195e-01 -3.83657795e-03 1.20064681e+02] [ 4.28484867e-03 6.98417939e-07 9.99990820e-01 7.97230861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.378623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.03, Y:120.06, Z:0.80 [[-4.44970516e-01 -8.95543183e-01 1.90951056e-03 1.68025922e+02] [ 8.95534968e-01 -4.44974614e-01 -3.83584350e-03 1.20056240e+02] [ 4.28484722e-03 3.19621615e-06 9.99990820e-01 7.97615678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.408623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.03, Y:120.05, Z:0.80 [[-4.45009402e-01 -8.95523858e-01 1.91097855e-03 1.68033625e+02] [ 8.95515646e-01 -4.45013505e-01 -3.83511202e-03 1.20045277e+02] [ 4.28484557e-03 4.65028445e-06 9.99990820e-01 7.97293734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.438623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.03, Y:120.06, Z:0.80 [[-4.45622564e-01 -8.95218897e-01 1.91243658e-03 1.68031690e+02] [ 8.95210685e-01 -4.45626668e-01 -3.83438481e-03 1.20056867e+02] [ 4.28484648e-03 3.34526745e-06 9.99990820e-01 7.99014798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:120.05, Z:0.80 [[-4.46013322e-01 -8.95024276e-01 1.91389601e-03 1.68039462e+02] [ 8.95016065e-01 -4.46017428e-01 -3.83365621e-03 1.20047093e+02] [ 4.28484635e-03 3.10593475e-06 9.99990820e-01 7.95060285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.498623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.04, Y:120.05, Z:0.79 [[-4.46613285e-01 -8.94725044e-01 1.91535733e-03 1.68039972e+02] [ 8.94716834e-01 -4.46617392e-01 -3.83292597e-03 1.20050736e+02] [ 4.28484676e-03 1.86678912e-06 9.99990820e-01 7.94230258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.528623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.04, Y:120.06, Z:0.79 [[-4.47302117e-01 -8.94380871e-01 1.91681572e-03 1.68041369e+02] [ 8.94372661e-01 -4.47306224e-01 -3.83219650e-03 1.20055456e+02] [ 4.28484685e-03 1.97969964e-07 9.99990820e-01 7.94664917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.05, Y:120.04, Z:0.79 [[-4.47739772e-01 -8.94161851e-01 1.91828013e-03 1.68049033e+02] [ 8.94153642e-01 -4.47743882e-01 -3.83146333e-03 1.20043181e+02] [ 4.28484653e-03 -2.61350693e-07 9.99990820e-01 7.94732482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.588623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.05, Y:120.05, Z:0.79 [[-4.48360889e-01 -8.93850563e-01 1.91974110e-03 1.68046866e+02] [ 8.93842354e-01 -4.48364998e-01 -3.83073117e-03 1.20050554e+02] [ 4.28484593e-03 -1.60412289e-06 9.99990820e-01 7.94310415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.05, Y:120.05, Z:0.79 [[-4.49385734e-01 -8.93335755e-01 1.92120083e-03 1.68051980e+02] [ 8.93327545e-01 -4.49389840e-01 -3.82999895e-03 1.20046924e+02] [ 4.28484313e-03 -4.88526899e-06 9.99990820e-01 7.94456254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.06, Y:120.04, Z:0.79 [[-4.50204515e-01 -8.92923400e-01 1.92266390e-03 1.68055230e+02] [ 8.92915189e-01 -4.50208620e-01 -3.82926434e-03 1.20043871e+02] [ 4.28483960e-03 -7.17628893e-06 9.99990820e-01 7.94657857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67862385300003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:168.06, Y:120.04, Z:0.80 [[-4.51027683e-01 -8.92507886e-01 1.92412404e-03 1.68059545e+02] [ 8.92499675e-01 -4.51031787e-01 -3.82853051e-03 1.20037415e+02] [ 4.28483478e-03 -9.49316784e-06 9.99990820e-01 8.00421050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.708623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.06, Y:120.05, Z:0.80 [[-4.52759227e-01 -8.91630739e-01 1.92558027e-03 1.68055601e+02] [ 8.91622523e-01 -4.52763321e-01 -3.82779795e-03 1.20051881e+02] [ 4.28481443e-03 -1.61801012e-05 9.99990820e-01 7.96614651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.06, Y:120.05, Z:0.80 [[-4.53573757e-01 -8.91216659e-01 1.92704251e-03 1.68059823e+02] [ 8.91208442e-01 -4.53577850e-01 -3.82706167e-03 1.20047331e+02] [ 4.28480491e-03 -1.84581891e-05 9.99990820e-01 7.96711731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:120.03, Z:0.80 [[-4.54178760e-01 -8.90908489e-01 1.92851201e-03 1.68068287e+02] [ 8.90900272e-01 -4.54182854e-01 -3.82632102e-03 1.20033603e+02] [ 4.28479897e-03 -1.97218585e-05 9.99990820e-01 7.96721758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.07, Y:120.04, Z:0.79 [[-4.53993169e-01 -8.91003074e-01 1.92997200e-03 1.68068939e+02] [ 8.90994862e-01 -4.53997271e-01 -3.82558447e-03 1.20036532e+02] [ 4.28480954e-03 -1.71940826e-05 9.99990820e-01 7.94498064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.828623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:168.06, Y:120.05, Z:0.80 [[-4.53480234e-01 -8.91264241e-01 1.93142711e-03 1.68064806e+02] [ 8.91256034e-01 -4.53484347e-01 -3.82484969e-03 1.20045730e+02] [ 4.28482371e-03 -1.30976656e-05 9.99990820e-01 8.00987730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:168.07, Y:120.03, Z:0.79 [[-4.53195575e-01 -8.91409016e-01 1.93289138e-03 1.68074021e+02] [ 8.91400814e-01 -4.53199697e-01 -3.82410957e-03 1.20030541e+02] [ 4.28483154e-03 -1.00885913e-05 9.99990820e-01 7.91725381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.888623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.08, Y:120.03, Z:0.79 [[-4.51513280e-01 -8.92262302e-01 1.93435390e-03 1.68075754e+02] [ 8.92254111e-01 -4.51517424e-01 -3.82336964e-03 1.20030893e+02] [ 4.28484309e-03 -3.66955732e-07 9.99990820e-01 7.92417730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:168.08, Y:120.03, Z:0.79 [[-4.50609668e-01 -8.92718982e-01 1.93580913e-03 1.68076354e+02] [ 8.92710797e-01 -4.50613826e-01 -3.82263270e-03 1.20031261e+02] [ 4.28483913e-03 5.60245998e-06 9.99990820e-01 7.92833418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.948623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.09, Y:120.01, Z:0.79 [[-4.49720308e-01 -8.93167337e-01 1.93726625e-03 1.68086508e+02] [ 8.93159160e-01 -4.49724480e-01 -3.82189411e-03 1.20012318e+02] [ 4.28482704e-03 1.15036996e-05 9.99990820e-01 7.93706572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.09, Y:120.01, Z:0.79 [[-4.48182009e-01 -8.93940226e-01 1.93871469e-03 1.68087957e+02] [ 8.93932060e-01 -4.48186201e-01 -3.82115922e-03 1.20011342e+02] [ 4.28479311e-03 2.05044027e-05 9.99990820e-01 7.93368547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.008623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:168.09, Y:120.01, Z:0.80 [[-4.47548739e-01 -8.94257436e-01 1.94015340e-03 1.68087106e+02] [ 8.94249276e-01 -4.47552944e-01 -3.82042860e-03 1.20012770e+02] [ 4.28476805e-03 2.51527695e-05 9.99990820e-01 8.00715043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.09, Y:120.00, Z:0.79 [[-4.47589064e-01 -8.94237250e-01 1.94159442e-03 1.68094989e+02] [ 8.94229093e-01 -4.47593275e-01 -3.81969611e-03 1.19997734e+02] [ 4.28475915e-03 2.65760065e-05 9.99990820e-01 7.92101077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.068623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.11, Y:119.98, Z:0.79 [[-4.46450111e-01 -8.94806417e-01 1.94302952e-03 1.68105275e+02] [ 8.94798268e-01 -4.46454338e-01 -3.81896595e-03 1.19976862e+02] [ 4.28470920e-03 3.36416740e-05 9.99990820e-01 7.94243356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09862385300005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.10, Y:119.99, Z:0.79 [[-4.45760137e-01 -8.95150334e-01 1.94444655e-03 1.68096897e+02] [ 8.95142191e-01 -4.45764376e-01 -3.81824433e-03 1.19992310e+02] [ 4.28466769e-03 3.85350316e-05 9.99990820e-01 7.93885375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.128623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.09, Y:120.00, Z:0.79 [[-4.45138632e-01 -8.95459554e-01 1.94586285e-03 1.68093038e+02] [ 8.95451417e-01 -4.45142882e-01 -3.81752241e-03 1.19998650e+02] [ 4.28462391e-03 4.30989490e-05 9.99990820e-01 7.94255193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.158623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.10, Y:119.99, Z:0.80 [[-4.43262074e-01 -8.96389950e-01 1.94729410e-03 1.68099146e+02] [ 8.96381826e-01 -4.43266348e-01 -3.81679220e-03 1.19985414e+02] [ 4.28450411e-03 5.36798148e-05 9.99990820e-01 7.95110873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.188623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:168.11, Y:119.96, Z:0.79 [[-4.42581684e-01 -8.96726076e-01 1.94872392e-03 1.68110995e+02] [ 8.96717958e-01 -4.42585970e-01 -3.81606205e-03 1.19960763e+02] [ 4.28444021e-03 5.85365658e-05 9.99990820e-01 7.94802693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.218623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:168.12, Y:119.95, Z:0.80 [[-4.41875934e-01 -8.97074053e-01 1.95013487e-03 1.68115118e+02] [ 8.97065941e-01 -4.41880233e-01 -3.81534086e-03 1.19949889e+02] [ 4.28436934e-03 6.34922665e-05 9.99990820e-01 8.00080133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.248623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.11, Y:119.95, Z:0.79 [[-4.41548673e-01 -8.97235176e-01 1.95152878e-03 1.68112023e+02] [ 8.97227070e-01 -4.41552980e-01 -3.81462775e-03 1.19950841e+02] [ 4.28432155e-03 6.66206297e-05 9.99990820e-01 7.94134148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.278623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.12, Y:119.94, Z:0.79 [[-4.41670088e-01 -8.97175412e-01 1.95292045e-03 1.68115056e+02] [ 8.97167308e-01 -4.41674400e-01 -3.81391515e-03 1.19943024e+02] [ 4.28430586e-03 6.76041444e-05 9.99990820e-01 7.93996998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.11, Y:119.96, Z:0.79 [[-4.42031984e-01 -8.96997161e-01 1.95431141e-03 1.68106555e+02] [ 8.96989058e-01 -4.42036299e-01 -3.81320226e-03 1.19957516e+02] [ 4.28430819e-03 6.74385912e-05 9.99990820e-01 7.93994950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.338623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.11, Y:119.95, Z:0.79 [[-4.43230671e-01 -8.96405459e-01 1.95570852e-03 1.68106141e+02] [ 8.96397354e-01 -4.43234982e-01 -3.81248558e-03 1.19953605e+02] [ 4.28437132e-03 6.32814009e-05 9.99990820e-01 7.93476011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.11, Y:119.94, Z:0.79 [[-4.44433951e-01 -8.95809485e-01 1.95711410e-03 1.68110377e+02] [ 8.95801377e-01 -4.44438257e-01 -3.81176390e-03 1.19942975e+02] [ 4.28443063e-03 5.91082116e-05 9.99990820e-01 7.93607846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.398623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:168.11, Y:119.94, Z:0.79 [[-4.45944198e-01 -8.95058622e-01 1.95851493e-03 1.68110158e+02] [ 8.95050510e-01 -4.45948495e-01 -3.81104401e-03 1.19940399e+02] [ 4.28450458e-03 5.34568210e-05 9.99990820e-01 7.94156508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42862385300003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:168.10, Y:119.96, Z:0.79 [[-4.49210569e-01 -8.93423765e-01 1.95991125e-03 1.68095376e+02] [ 8.93415641e-01 -4.49214843e-01 -3.81032579e-03 1.19963345e+02] [ 4.28465683e-03 3.93767480e-05 9.99990820e-01 7.94477203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.458623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:168.10, Y:119.95, Z:0.79 [[-4.51244182e-01 -8.92398365e-01 1.96132211e-03 1.68099568e+02] [ 8.92390234e-01 -4.51248443e-01 -3.80959942e-03 1.19954041e+02] [ 4.28472384e-03 3.12051228e-05 9.99990820e-01 7.94386359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48862385300004 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:168.09, Y:119.96, Z:0.80 [[-4.55516104e-01 -8.90225380e-01 1.96274368e-03 1.68092810e+02] [ 8.90217232e-01 -4.55520333e-01 -3.80886687e-03 1.19963264e+02] [ 4.28481961e-03 1.22680474e-05 9.99990820e-01 8.02112200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.518623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.09, Y:119.98, Z:0.79 [[-4.57814326e-01 -8.89045660e-01 1.96416798e-03 1.68085242e+02] [ 8.89037504e-01 -4.57818540e-01 -3.80813224e-03 1.19977076e+02] [ 4.28483596e-03 2.80150086e-06 9.99990820e-01 7.94873093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:168.08, Y:119.99, Z:0.80 [[-4.60017950e-01 -8.87907440e-01 1.96560860e-03 1.68075419e+02] [ 8.87899277e-01 -4.60022149e-01 -3.80738851e-03 1.19994256e+02] [ 4.28483208e-03 -6.20460501e-06 9.99990820e-01 7.95027931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.578623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:168.08, Y:119.98, Z:0.80 [[-4.62058990e-01 -8.86847011e-01 1.96707005e-03 1.68079442e+02] [ 8.86838841e-01 -4.62063177e-01 -3.80663330e-03 1.19984527e+02] [ 4.28481200e-03 -1.44150179e-05 9.99990820e-01 7.95186097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.08, Y:119.97, Z:0.79 [[-4.65461254e-01 -8.85066069e-01 1.96853929e-03 1.68084726e+02] [ 8.85057886e-01 -4.65465416e-01 -3.80587336e-03 1.19971478e+02] [ 4.28473633e-03 -2.92153583e-05 9.99990820e-01 7.94992830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.638623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.09, Y:119.97, Z:0.79 [[-4.67390346e-01 -8.84048858e-01 1.96999749e-03 1.68086468e+02] [ 8.84040670e-01 -4.67394497e-01 -3.80511841e-03 1.19966980e+02] [ 4.28467658e-03 -3.69177103e-05 9.99990820e-01 7.94815009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:168.08, Y:119.97, Z:0.79 [[-4.69298705e-01 -8.83037280e-01 1.97144793e-03 1.68082717e+02] [ 8.83029086e-01 -4.69302844e-01 -3.80436679e-03 1.19973271e+02] [ 4.28460382e-03 -4.45385454e-05 9.99990820e-01 7.94856378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.698623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:168.09, Y:119.97, Z:0.80 [[-4.72563901e-01 -8.81294200e-01 1.97290218e-03 1.68085681e+02] [ 8.81285994e-01 -4.72568016e-01 -3.80361248e-03 1.19965342e+02] [ 4.28443209e-03 -5.87588960e-05 9.99990820e-01 8.00807168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72862385300004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:168.09, Y:119.96, Z:0.79 [[-4.74718984e-01 -8.80135210e-01 1.97435831e-03 1.68090228e+02] [ 8.80126997e-01 -4.74723085e-01 -3.80285649e-03 1.19956483e+02] [ 4.28430136e-03 -6.76021189e-05 9.99990820e-01 7.93972992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.758623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:168.10, Y:119.95, Z:0.79 [[-4.76684901e-01 -8.79072011e-01 1.97580669e-03 1.68096194e+02] [ 8.79063792e-01 -4.76688990e-01 -3.80210382e-03 1.19945243e+02] [ 4.28416835e-03 -7.55453613e-05 9.99990820e-01 7.93832756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.10, Y:119.94, Z:0.79 [[-4.78600098e-01 -8.78030772e-01 1.97724550e-03 1.68101042e+02] [ 8.78022547e-01 -4.78604175e-01 -3.80135544e-03 1.19936661e+02] [ 4.28402500e-03 -8.32629530e-05 9.99990820e-01 7.93347920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.818623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:168.10, Y:119.94, Z:0.79 [[-4.81799625e-01 -8.76279183e-01 1.97867512e-03 1.68098879e+02] [ 8.76270946e-01 -4.81803678e-01 -3.80061115e-03 1.19943034e+02] [ 4.28372938e-03 -9.72775125e-05 9.99990820e-01 7.93630881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84862385300005 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:168.11, Y:119.91, Z:0.80 [[-4.83480636e-01 -8.75352817e-01 1.98010561e-03 1.68113980e+02] [ 8.75344575e-01 -4.83484680e-01 -3.79986572e-03 1.19914407e+02] [ 4.28357389e-03 -1.03886797e-04 9.99990820e-01 8.02241587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.878623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:168.11, Y:119.93, Z:0.79 [[-4.85017637e-01 -8.74502124e-01 1.98152514e-03 1.68108513e+02] [ 8.74493879e-01 -4.85021673e-01 -3.79912533e-03 1.19927329e+02] [ 4.28342581e-03 -1.09811184e-04 9.99990820e-01 7.93691293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.908623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:168.11, Y:119.93, Z:0.79 [[-4.85344941e-01 -8.74320513e-01 1.98214189e-03 1.68109727e+02] [ 8.74312267e-01 -4.85348976e-01 -3.79880352e-03 1.19925163e+02] [ 4.28340238e-03 -1.10719102e-04 9.99990820e-01 7.93680595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.938623853 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:168.11, Y:119.92, Z:0.80 [[-4.87824682e-01 -8.72939371e-01 1.98356357e-03 1.68113817e+02] [ 8.72931117e-01 -4.87828700e-01 -3.79806104e-03 1.19920233e+02] [ 4.28311625e-03 -1.21273564e-04 9.99990820e-01 8.02456425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.968623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:168.12, Y:119.91, Z:0.80 [[-4.89036175e-01 -8.72261245e-01 1.98498289e-03 1.68121079e+02] [ 8.72252988e-01 -4.89040187e-01 -3.79731912e-03 1.19909096e+02] [ 4.28299070e-03 -1.25619156e-04 9.99990820e-01 7.95036449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.998623853 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:168.13, Y:119.90, Z:0.80 [[-4.89854244e-01 -8.71802084e-01 1.98639484e-03 1.68128093e+02] [ 8.71793827e-01 -4.89858255e-01 -3.79658037e-03 1.19898534e+02] [ 4.28291859e-03 -1.28044246e-04 9.99990820e-01 7.95009165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.028623853 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:168.12, Y:119.92, Z:0.80 [[-4.90436084e-01 -8.71474897e-01 1.98779611e-03 1.68121281e+02] [ 8.71466640e-01 -4.90440096e-01 -3.79584656e-03 1.19915103e+02] [ 4.28287991e-03 -1.29322126e-04 9.99990820e-01 7.95108303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:168.13, Y:119.91, Z:0.79 [[-4.90722179e-01 -8.71313828e-01 1.98920207e-03 1.68130044e+02] [ 8.71305572e-01 -4.90726194e-01 -3.79510963e-03 1.19905508e+02] [ 4.28288506e-03 -1.29141623e-04 9.99990820e-01 7.94145402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.088623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:168.14, Y:119.89, Z:0.79 [[-4.90644101e-01 -8.71357793e-01 1.99061274e-03 1.68138260e+02] [ 8.71349541e-01 -4.90648122e-01 -3.79436956e-03 1.19893096e+02] [ 4.28294389e-03 -1.27165545e-04 9.99990820e-01 7.94149589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11862385300003 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:168.14, Y:119.90, Z:0.80 [[-4.90447918e-01 -8.71468228e-01 1.99201208e-03 1.68136775e+02] [ 8.71459979e-01 -4.90451947e-01 -3.79363478e-03 1.19898693e+02] [ 4.28301838e-03 -1.24621471e-04 9.99990820e-01 7.95172335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.148623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:168.13, Y:119.92, Z:0.80 [[-4.89954592e-01 -8.71745676e-01 1.99340935e-03 1.68125561e+02] [ 8.71737433e-01 -4.89958632e-01 -3.79290042e-03 1.19922758e+02] [ 4.28313266e-03 -1.20619431e-04 9.99990820e-01 7.95394354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17862385300003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:168.13, Y:119.92, Z:0.80 [[-4.88407636e-01 -8.72613318e-01 1.99482468e-03 1.68129560e+02] [ 8.72605085e-01 -4.88411697e-01 -3.79215590e-03 1.19920210e+02] [ 4.28338145e-03 -1.11423739e-04 9.99990820e-01 7.96031714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.208623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:168.14, Y:119.91, Z:0.80 [[-4.87913142e-01 -8.72889902e-01 1.99625340e-03 1.68138234e+02] [ 8.72881674e-01 -4.87917214e-01 -3.79140365e-03 1.19905545e+02] [ 4.28348436e-03 -1.07382663e-04 9.99990820e-01 7.95546033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:168.14, Y:119.91, Z:0.80 [[-4.87365376e-01 -8.73195854e-01 1.99767370e-03 1.68137931e+02] [ 8.73187632e-01 -4.87369459e-01 -3.79065516e-03 1.19909558e+02] [ 4.28358952e-03 -1.03090111e-04 9.99990820e-01 7.95645280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.268623853 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:168.14, Y:119.91, Z:0.80 [[-4.85933154e-01 -8.73993692e-01 1.99908911e-03 1.68140201e+02] [ 8.73985480e-01 -4.85937257e-01 -3.78990856e-03 1.19912281e+02] [ 4.28378805e-03 -9.44673631e-05 9.99990820e-01 8.03505224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29862385300004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:168.14, Y:119.91, Z:0.80 [[-4.85640913e-01 -8.74156108e-01 2.00050932e-03 1.68144135e+02] [ 8.74147901e-01 -4.85645025e-01 -3.78915875e-03 1.19909273e+02] [ 4.28385367e-03 -9.14294984e-05 9.99990820e-01 7.96361123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.328623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:168.14, Y:119.91, Z:0.80 [[-4.85244020e-01 -8.74376482e-01 2.00193038e-03 1.68143543e+02] [ 8.74368280e-01 -4.85248142e-01 -3.78840781e-03 1.19913553e+02] [ 4.28392769e-03 -8.78778107e-05 9.99990820e-01 7.95421209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:168.14, Y:119.92, Z:0.79 [[-4.84094492e-01 -8.75013434e-01 2.00335372e-03 1.68142785e+02] [ 8.75005240e-01 -4.84098631e-01 -3.78765498e-03 1.19921862e+02] [ 4.28406979e-03 -8.06379148e-05 9.99990820e-01 7.94267656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.388623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:168.14, Y:119.92, Z:0.79 [[-4.83493876e-01 -8.75345448e-01 2.00478494e-03 1.68144805e+02] [ 8.75337260e-01 -4.83498026e-01 -3.78689729e-03 1.19921341e+02] [ 4.28415287e-03 -7.60786925e-05 9.99990820e-01 7.94069975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41862385300004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:168.15, Y:119.92, Z:0.79 [[-4.82973452e-01 -8.75632697e-01 2.00622202e-03 1.68145585e+02] [ 8.75624515e-01 -4.82977613e-01 -3.78613581e-03 1.19922844e+02] [ 4.28422463e-03 -7.19059009e-05 9.99990820e-01 7.94354030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.448623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.15, Y:119.92, Z:0.79 [[-4.81490225e-01 -8.76449161e-01 2.00766093e-03 1.68151028e+02] [ 8.76440989e-01 -4.81494407e-01 -3.78537265e-03 1.19918714e+02] [ 4.28436419e-03 -6.30235974e-05 9.99990820e-01 7.94633742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.15, Y:119.92, Z:0.80 [[-4.81135828e-01 -8.76643758e-01 2.00909955e-03 1.68150833e+02] [ 8.76635591e-01 -4.81140019e-01 -3.78460894e-03 1.19921758e+02] [ 4.28441200e-03 -5.96627793e-05 9.99990820e-01 7.95187659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.508623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.15, Y:119.92, Z:0.79 [[-4.80865887e-01 -8.76791855e-01 2.01053836e-03 1.68151232e+02] [ 8.76783692e-01 -4.80870087e-01 -3.78384443e-03 1.19924191e+02] [ 4.28445173e-03 -5.67144574e-05 9.99990820e-01 7.94916079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53862385300005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:168.16, Y:119.92, Z:0.80 [[-4.80166105e-01 -8.77175275e-01 2.01198213e-03 1.68159174e+02] [ 8.77167119e-01 -4.80170318e-01 -3.78307658e-03 1.19916218e+02] [ 4.28451534e-03 -5.16605836e-05 9.99990820e-01 7.96351171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.568623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:168.15, Y:119.93, Z:0.80 [[-4.79880310e-01 -8.77331656e-01 2.01342367e-03 1.68152478e+02] [ 8.77323504e-01 -4.79884532e-01 -3.78230921e-03 1.19932223e+02] [ 4.28455048e-03 -4.86318068e-05 9.99990820e-01 7.96899287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59862385300005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:168.16, Y:119.92, Z:0.80 [[-4.79842908e-01 -8.77352109e-01 2.01487116e-03 1.68162778e+02] [ 8.77343961e-01 -4.79847136e-01 -3.78153796e-03 1.19915547e+02] [ 4.28457046e-03 -4.68091329e-05 9.99990820e-01 7.96983432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.628623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:168.15, Y:119.94, Z:0.80 [[-4.79002766e-01 -8.77811076e-01 2.01631931e-03 1.68152834e+02] [ 8.77802935e-01 -4.79007008e-01 -3.78076565e-03 1.19939716e+02] [ 4.28462904e-03 -4.10661932e-05 9.99990820e-01 7.96269270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.658623853 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.16, Y:119.93, Z:0.80 [[-4.78768345e-01 -8.77938950e-01 2.01777369e-03 1.68160097e+02] [ 8.77930814e-01 -4.78772595e-01 -3.77998929e-03 1.19928934e+02] [ 4.28465458e-03 -3.82735173e-05 9.99990820e-01 7.95119043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.688623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:168.17, Y:119.92, Z:0.80 [[-4.78634371e-01 -8.78011994e-01 2.01923731e-03 1.68165617e+02] [ 8.78003862e-01 -4.78638629e-01 -3.77920728e-03 1.19920466e+02] [ 4.28467430e-03 -3.59603376e-05 9.99990820e-01 7.96013035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.718623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:168.17, Y:119.91, Z:0.80 [[-4.78472214e-01 -8.78100369e-01 2.02069109e-03 1.68170769e+02] [ 8.78092240e-01 -4.78476479e-01 -3.77842980e-03 1.19912036e+02] [ 4.28469376e-03 -3.35205019e-05 9.99990820e-01 7.96270723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.748623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:168.18, Y:119.90, Z:0.80 [[-4.77947244e-01 -8.78386215e-01 2.02213661e-03 1.68178190e+02] [ 8.78378092e-01 -4.77951521e-01 -3.77765603e-03 1.19900764e+02] [ 4.28472425e-03 -2.93197935e-05 9.99990820e-01 7.96925511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.778623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:168.17, Y:119.91, Z:0.80 [[-4.77871109e-01 -8.78427634e-01 2.02357182e-03 1.68172532e+02] [ 8.78419515e-01 -4.77875393e-01 -3.77688708e-03 1.19913859e+02] [ 4.28473716e-03 -2.73202429e-05 9.99990820e-01 7.96524993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80862385300003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:168.19, Y:119.88, Z:0.80 [[-4.77801978e-01 -8.78465235e-01 2.02500982e-03 1.68189474e+02] [ 8.78457119e-01 -4.77806269e-01 -3.77611592e-03 1.19884327e+02] [ 4.28474895e-03 -2.53513623e-05 9.99990820e-01 7.96479935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.838623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.18, Y:119.90, Z:0.80 [[-4.76765519e-01 -8.79028175e-01 2.02643974e-03 1.68183991e+02] [ 8.79020068e-01 -4.76769826e-01 -3.77534841e-03 1.19897298e+02] [ 4.28478294e-03 -1.86747495e-05 9.99990820e-01 7.96084215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86862385300003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:168.18, Y:119.91, Z:0.80 [[-4.76304835e-01 -8.79277881e-01 2.02786165e-03 1.68180377e+02] [ 8.79269779e-01 -4.76309151e-01 -3.77458450e-03 1.19905508e+02] [ 4.28479772e-03 -1.48153855e-05 9.99990820e-01 7.96055121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.898623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:168.20, Y:119.88, Z:0.80 [[-4.75856354e-01 -8.79520672e-01 2.02929782e-03 1.68195261e+02] [ 8.79512576e-01 -4.75860681e-01 -3.77381223e-03 1.19879033e+02] [ 4.28480891e-03 -1.09995782e-05 9.99990820e-01 8.02082485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92862385300003 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:168.20, Y:119.88, Z:0.80 [[-4.75288361e-01 -8.79827739e-01 2.03072475e-03 1.68196280e+02] [ 8.79819649e-01 -4.75292700e-01 -3.77304423e-03 1.19877977e+02] [ 4.28481762e-03 -6.61247200e-06 9.99990820e-01 7.99304089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.19, Y:119.89, Z:0.79 [[-4.74223395e-01 -8.80402205e-01 2.03213816e-03 1.68187360e+02] [ 8.80394123e-01 -4.74227749e-01 -3.77228282e-03 1.19894870e+02] [ 4.28482241e-03 1.77734080e-07 9.99990820e-01 7.94377271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.20, Y:119.87, Z:0.79 [[-4.73928793e-01 -8.80560824e-01 2.03356263e-03 1.68198913e+02] [ 8.80552747e-01 -4.73933156e-01 -3.77151476e-03 1.19873693e+02] [ 4.28482090e-03 3.22972646e-06 9.99990820e-01 7.94111477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.018623853 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:168.19, Y:119.88, Z:0.79 [[-4.73764081e-01 -8.80649450e-01 2.03498681e-03 1.68193953e+02] [ 8.80641378e-01 -4.73768451e-01 -3.77074616e-03 1.19882701e+02] [ 4.28481808e-03 5.64950220e-06 9.99990820e-01 7.94618876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.20, Y:119.88, Z:0.79 [[-4.73812941e-01 -8.80623160e-01 2.03640605e-03 1.68195247e+02] [ 8.80615090e-01 -4.73817317e-01 -3.76997954e-03 1.19879637e+02] [ 4.28481575e-03 7.02480592e-06 9.99990820e-01 7.93600948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.078623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:168.20, Y:119.87, Z:0.79 [[-4.74085520e-01 -8.80476443e-01 2.03783106e-03 1.68197299e+02] [ 8.80468376e-01 -4.74089899e-01 -3.76920910e-03 1.19874684e+02] [ 4.28481495e-03 7.31834917e-06 9.99990820e-01 7.94289387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10862385300004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:168.20, Y:119.87, Z:0.80 [[-4.74771191e-01 -8.80106901e-01 2.03925368e-03 1.68200804e+02] [ 8.80098834e-01 -4.74775570e-01 -3.76843926e-03 1.19868182e+02] [ 4.28481723e-03 5.59839121e-06 9.99990820e-01 7.95710529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.138623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:168.19, Y:119.88, Z:0.80 [[-4.75827869e-01 -8.79536057e-01 2.04067205e-03 1.68193884e+02] [ 8.79527987e-01 -4.75832245e-01 -3.76767104e-03 1.19879952e+02] [ 4.28482009e-03 2.06530217e-06 9.99990820e-01 7.96319928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16862385300004 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:168.20, Y:119.86, Z:0.80 [[-4.76351833e-01 -8.79252388e-01 2.04209619e-03 1.68202504e+02] [ 8.79244318e-01 -4.76356210e-01 -3.76689899e-03 1.19863724e+02] [ 4.28482013e-03 1.13223425e-06 9.99990820e-01 8.03575335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.198623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:168.20, Y:119.87, Z:0.80 [[-4.77353491e-01 -8.78708978e-01 2.04352004e-03 1.68199530e+02] [ 8.78700908e-01 -4.77357865e-01 -3.76612640e-03 1.19867589e+02] [ 4.28481945e-03 -2.13067728e-06 9.99990820e-01 7.96154921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.20, Y:119.87, Z:0.80 [[-4.78015615e-01 -8.78348957e-01 2.04493893e-03 1.68199740e+02] [ 8.78340886e-01 -4.78019990e-01 -3.76535581e-03 1.19866635e+02] [ 4.28481804e-03 -3.74539928e-06 9.99990820e-01 7.96267150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.258623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:168.20, Y:119.86, Z:0.80 [[-4.78978718e-01 -8.77824128e-01 2.04636220e-03 1.68202824e+02] [ 8.77816056e-01 -4.78983089e-01 -3.76458215e-03 1.19859580e+02] [ 4.28481393e-03 -6.82513996e-06 9.99990820e-01 7.96309588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28862385300005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:168.20, Y:119.87, Z:0.80 [[-4.79970118e-01 -8.77282448e-01 2.04778307e-03 1.68197316e+02] [ 8.77274374e-01 -4.79974486e-01 -3.76380909e-03 1.19866884e+02] [ 4.28480728e-03 -1.00482830e-05 9.99990820e-01 7.95404291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.318623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.21, Y:119.85, Z:0.80 [[-4.80464185e-01 -8.77011954e-01 2.04920737e-03 1.68205791e+02] [ 8.77003881e-01 -4.80468555e-01 -3.76303347e-03 1.19850699e+02] [ 4.28480504e-03 -1.08399897e-05 9.99990820e-01 7.95274965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34862385300005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:168.19, Y:119.88, Z:0.80 [[-4.81278935e-01 -8.76565104e-01 2.05062882e-03 1.68191372e+02] [ 8.76557030e-01 -4.81283303e-01 -3.76225871e-03 1.19876437e+02] [ 4.28479811e-03 -1.32027559e-05 9.99990820e-01 7.95562228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.378623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:168.20, Y:119.86, Z:0.80 [[-4.82727988e-01 -8.75767937e-01 2.05205817e-03 1.68196806e+02] [ 8.75759859e-01 -4.82732349e-01 -3.76147893e-03 1.19864345e+02] [ 4.28477750e-03 -1.86609779e-05 9.99990820e-01 8.00073188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.408623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.20, Y:119.86, Z:0.80 [[-4.83806213e-01 -8.75172744e-01 2.05349864e-03 1.68197902e+02] [ 8.75164664e-01 -4.83810571e-01 -3.76069237e-03 1.19861818e+02] [ 4.28475981e-03 -2.22968853e-05 9.99990820e-01 7.96421121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.438623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.19, Y:119.87, Z:0.80 [[-4.84803304e-01 -8.74620794e-01 2.05493308e-03 1.68192289e+02] [ 8.74612713e-01 -4.84807659e-01 -3.75990839e-03 1.19872191e+02] [ 4.28474136e-03 -2.55454149e-05 9.99990820e-01 7.96426782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.468623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:168.20, Y:119.85, Z:0.80 [[-4.86736830e-01 -8.73546238e-01 2.05637462e-03 1.68201430e+02] [ 8.73538150e-01 -4.86741173e-01 -3.75911982e-03 1.19853703e+02] [ 4.28468717e-03 -3.33803820e-05 9.99990820e-01 7.95878779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.498623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.19, Y:119.88, Z:0.80 [[-4.87815572e-01 -8.72944290e-01 2.05781370e-03 1.68189516e+02] [ 8.72936200e-01 -4.87819911e-01 -3.75833187e-03 1.19875156e+02] [ 4.28465685e-03 -3.70327392e-05 9.99990820e-01 7.95784183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.528623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.19, Y:119.87, Z:0.79 [[-4.88816495e-01 -8.72384201e-01 2.05925728e-03 1.68193503e+02] [ 8.72376109e-01 -4.88820831e-01 -3.75754075e-03 1.19868214e+02] [ 4.28462704e-03 -4.03010448e-05 9.99990820e-01 7.94917801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55862385300003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:168.20, Y:119.85, Z:0.79 [[-4.89840265e-01 -8.71809766e-01 2.06071171e-03 1.68201813e+02] [ 8.71801673e-01 -4.89844598e-01 -3.75674294e-03 1.19853496e+02] [ 4.28459368e-03 -4.36720419e-05 9.99990820e-01 7.94703507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.20, Y:119.86, Z:0.80 [[-4.90935528e-01 -8.71193466e-01 2.06215516e-03 1.68198505e+02] [ 8.71185371e-01 -4.90939856e-01 -3.75595043e-03 1.19860081e+02] [ 4.28455363e-03 -4.74101006e-05 9.99990820e-01 7.95593219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61862385300003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:168.20, Y:119.85, Z:0.80 [[-4.92311886e-01 -8.70416423e-01 2.06359566e-03 1.68202284e+02] [ 8.70408324e-01 -4.92316208e-01 -3.75515882e-03 1.19853446e+02] [ 4.28449350e-03 -5.25384837e-05 9.99990820e-01 8.04255185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.20, Y:119.85, Z:0.80 [[-4.93268417e-01 -8.69874706e-01 2.06503850e-03 1.68204392e+02] [ 8.69866606e-01 -4.93272736e-01 -3.75436521e-03 1.19849175e+02] [ 4.28445453e-03 -5.56017516e-05 9.99990820e-01 7.95731753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.21, Y:119.84, Z:0.80 [[-4.94559570e-01 -8.69141278e-01 2.06647743e-03 1.68206769e+02] [ 8.69133175e-01 -4.94563884e-01 -3.75357303e-03 1.19844492e+02] [ 4.28439036e-03 -6.03213758e-05 9.99990820e-01 7.95927596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.708623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:168.21, Y:119.84, Z:0.80 [[-4.95212747e-01 -8.68769278e-01 2.06791342e-03 1.68207214e+02] [ 8.68761175e-01 -4.95217061e-01 -3.75278174e-03 1.19844550e+02] [ 4.28436750e-03 -6.19024611e-05 9.99990820e-01 7.95697480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.21, Y:119.84, Z:0.80 [[-4.95994580e-01 -8.68323151e-01 2.06934864e-03 1.68208880e+02] [ 8.68315047e-01 -4.95998892e-01 -3.75199018e-03 1.19841723e+02] [ 4.28433456e-03 -6.41202286e-05 9.99990820e-01 7.95113236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.768623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.21, Y:119.84, Z:0.80 [[-4.96326803e-01 -8.68133294e-01 2.07078451e-03 1.68210135e+02] [ 8.68125192e-01 -4.96331118e-01 -3.75119753e-03 1.19839601e+02] [ 4.28433426e-03 -6.41196754e-05 9.99990820e-01 7.95102455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.21, Y:119.83, Z:0.79 [[-4.97065272e-01 -8.67710679e-01 2.07221960e-03 1.68214672e+02] [ 8.67702576e-01 -4.97069587e-01 -3.75040460e-03 1.19832653e+02] [ 4.28430345e-03 -6.61255980e-05 9.99990820e-01 7.94353490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.828623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.21, Y:119.85, Z:0.79 [[-4.97595743e-01 -8.67406581e-01 2.07365128e-03 1.68208152e+02] [ 8.67398479e-01 -4.97600059e-01 -3.74961283e-03 1.19846601e+02] [ 4.28428784e-03 -6.71094090e-05 9.99990820e-01 7.91985845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.21, Y:119.84, Z:0.79 [[-4.97746490e-01 -8.67320083e-01 2.07508887e-03 1.68213091e+02] [ 8.67311984e-01 -4.97750811e-01 -3.74881708e-03 1.19838547e+02] [ 4.28430151e-03 -6.62110957e-05 9.99990820e-01 7.92448319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.888623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.21, Y:119.85, Z:0.79 [[-4.97645650e-01 -8.67377942e-01 2.07653192e-03 1.68206718e+02] [ 8.67369847e-01 -4.97649979e-01 -3.74801758e-03 1.19850268e+02] [ 4.28433384e-03 -6.40634717e-05 9.99990820e-01 7.92395712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:168.21, Y:119.85, Z:0.79 [[-4.97427552e-01 -8.67503033e-01 2.07797949e-03 1.68208977e+02] [ 8.67494942e-01 -4.97431889e-01 -3.74721484e-03 1.19846170e+02] [ 4.28437350e-03 -6.13312044e-05 9.99990820e-01 7.92450884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.948623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:168.21, Y:119.84, Z:0.80 [[-4.95960321e-01 -8.68342695e-01 2.07943382e-03 1.68214059e+02] [ 8.68334615e-01 -4.95964677e-01 -3.74640762e-03 1.19838276e+02] [ 4.28449141e-03 -5.24251553e-05 9.99990820e-01 8.00957799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.21, Y:119.85, Z:0.79 [[-4.95706270e-01 -8.68487745e-01 2.08088296e-03 1.68209874e+02] [ 8.68479670e-01 -4.95710635e-01 -3.74560255e-03 1.19845409e+02] [ 4.28452572e-03 -4.95141227e-05 9.99990820e-01 7.94518441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.008623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:168.22, Y:119.83, Z:0.79 [[-4.95313129e-01 -8.68712017e-01 2.08233397e-03 1.68219647e+02] [ 8.68703947e-01 -4.95317504e-01 -3.74479570e-03 1.19828541e+02] [ 4.28456549e-03 -4.59147331e-05 9.99990820e-01 7.94932444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.22, Y:119.82, Z:0.80 [[-4.94535409e-01 -8.69154985e-01 2.08378128e-03 1.68224524e+02] [ 8.69146922e-01 -4.94539797e-01 -3.74399017e-03 1.19819796e+02] [ 4.28462049e-03 -4.04236273e-05 9.99990820e-01 7.95271127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.068623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.22, Y:119.82, Z:0.80 [[-4.94210364e-01 -8.69339846e-01 2.08521504e-03 1.68222457e+02] [ 8.69331788e-01 -4.94214762e-01 -3.74319147e-03 1.19824030e+02] [ 4.28464955e-03 -3.71802940e-05 9.99990820e-01 7.96068745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09862385300005 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:168.22, Y:119.83, Z:0.81 [[-4.93921114e-01 -8.69504214e-01 2.08664850e-03 1.68221370e+02] [ 8.69496161e-01 -4.93925521e-01 -3.74239221e-03 1.19826360e+02] [ 4.28467475e-03 -3.41136674e-05 9.99990820e-01 8.05289624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.128623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.23, Y:119.81, Z:0.80 [[-4.93821885e-01 -8.69560571e-01 2.08808811e-03 1.68227818e+02] [ 8.69552522e-01 -4.93826298e-01 -3.74158880e-03 1.19813976e+02] [ 4.28469092e-03 -3.19761549e-05 9.99990820e-01 7.97928471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.158623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.23, Y:119.80, Z:0.80 [[-4.93080626e-01 -8.69981109e-01 2.08952358e-03 1.68234567e+02] [ 8.69973067e-01 -4.93085052e-01 -3.74078698e-03 1.19801117e+02] [ 4.28472685e-03 -2.66803484e-05 9.99990820e-01 7.96716261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.188623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.23, Y:119.81, Z:0.80 [[-4.93047055e-01 -8.70000132e-01 2.09094688e-03 1.68231567e+02] [ 8.69992094e-01 -4.93051488e-01 -3.73999125e-03 1.19807371e+02] [ 4.28473735e-03 -2.48844158e-05 9.99990820e-01 7.95938320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.218623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:168.24, Y:119.79, Z:0.80 [[-4.93013253e-01 -8.70019284e-01 2.09236824e-03 1.68239196e+02] [ 8.70011249e-01 -4.93017693e-01 -3.73919588e-03 1.19794256e+02] [ 4.28474709e-03 -2.30892219e-05 9.99990820e-01 8.01441287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.248623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:168.24, Y:119.80, Z:0.80 [[-4.92728143e-01 -8.70180782e-01 2.09378788e-03 1.68238033e+02] [ 8.70172752e-01 -4.92732591e-01 -3.73840078e-03 1.19796350e+02] [ 4.28476204e-03 -2.00581093e-05 9.99990820e-01 8.02338741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.278623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.24, Y:119.80, Z:0.79 [[-4.92838697e-01 -8.70118170e-01 2.09520303e-03 1.68238578e+02] [ 8.70110142e-01 -4.92843150e-01 -3.73760748e-03 1.19795779e+02] [ 4.28476664e-03 -1.89801903e-05 9.99990820e-01 7.93508815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.24, Y:119.79, Z:0.80 [[-4.92793027e-01 -8.70144032e-01 2.09662138e-03 1.68239880e+02] [ 8.70136008e-01 -4.92797487e-01 -3.73681168e-03 1.19793792e+02] [ 4.28477413e-03 -1.71289789e-05 9.99990820e-01 8.00100017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.338623853 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:168.24, Y:119.79, Z:0.80 [[-4.92926129e-01 -8.70068635e-01 2.09804012e-03 1.68241161e+02] [ 8.70060614e-01 -4.92930594e-01 -3.73601496e-03 1.19791866e+02] [ 4.28477760e-03 -1.61573165e-05 9.99990820e-01 8.02629977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.24, Y:119.80, Z:0.79 [[-4.93307590e-01 -8.69852409e-01 2.09945903e-03 1.68238540e+02] [ 8.69844390e-01 -4.93312057e-01 -3.73521743e-03 1.19795385e+02] [ 4.28477634e-03 -1.64084553e-05 9.99990820e-01 7.94198384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.24, Y:119.79, Z:0.80 [[-4.93755200e-01 -8.69598406e-01 2.10088115e-03 1.68239750e+02] [ 8.69590388e-01 -4.93759670e-01 -3.73441739e-03 1.19792468e+02] [ 4.28477379e-03 -1.69819475e-05 9.99990820e-01 7.95455766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:168.23, Y:119.80, Z:0.80 [[-4.94617442e-01 -8.69108259e-01 2.10230604e-03 1.68233692e+02] [ 8.69100240e-01 -4.94621910e-01 -3.73361507e-03 1.19803003e+02] [ 4.28476232e-03 -1.95964541e-05 9.99990820e-01 7.95878804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.458623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.24, Y:119.80, Z:0.80 [[-4.96529633e-01 -8.68017222e-01 2.10373797e-03 1.68235523e+02] [ 8.68009196e-01 -4.96534089e-01 -3.73280806e-03 1.19801283e+02] [ 4.28471930e-03 -2.73859181e-05 9.99990820e-01 7.96674659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48862385300004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:168.24, Y:119.80, Z:0.80 [[-4.98198894e-01 -8.67060223e-01 2.10517701e-03 1.68239649e+02] [ 8.67052192e-01 -4.98203341e-01 -3.73199631e-03 1.19795206e+02] [ 4.28467177e-03 -3.39780995e-05 9.99990820e-01 8.02951430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.24, Y:119.80, Z:0.80 [[-4.99713014e-01 -8.66188470e-01 2.10661357e-03 1.68241141e+02] [ 8.66180435e-01 -4.99717453e-01 -3.73118523e-03 1.19795510e+02] [ 4.28462120e-03 -3.98143570e-05 9.99990820e-01 7.95674316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.24, Y:119.80, Z:0.79 [[-5.02468850e-01 -8.64592743e-01 2.10804838e-03 1.68241785e+02] [ 8.64584697e-01 -5.02473270e-01 -3.73037442e-03 1.19797982e+02] [ 4.28449261e-03 -5.18105740e-05 9.99990820e-01 7.94906230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.578623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.24, Y:119.80, Z:0.79 [[-5.04191150e-01 -8.63589506e-01 2.10948600e-03 1.68242837e+02] [ 8.63581454e-01 -5.04195559e-01 -3.72956128e-03 1.19797850e+02] [ 4.28440346e-03 -5.86988050e-05 9.99990820e-01 7.93817618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60862385300004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:168.25, Y:119.79, Z:0.80 [[-5.05656429e-01 -8.62732357e-01 2.11092644e-03 1.68250785e+02] [ 8.62724301e-01 -5.05660831e-01 -3.72874582e-03 1.19786500e+02] [ 4.28432249e-03 -6.43167588e-05 9.99990820e-01 8.00722180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.25, Y:119.80, Z:0.79 [[-5.06955676e-01 -8.61969536e-01 2.11236176e-03 1.68247517e+02] [ 8.61961477e-01 -5.06960072e-01 -3.72793252e-03 1.19795324e+02] [ 4.28424734e-03 -6.91220944e-05 9.99990820e-01 7.94339725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.26, Y:119.78, Z:0.80 [[-5.09511577e-01 -8.60461205e-01 2.11379676e-03 1.68256984e+02] [ 8.60453136e-01 -5.09515956e-01 -3.72711868e-03 1.19783339e+02] [ 4.28405420e-03 -8.01870670e-05 9.99990820e-01 7.97915919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.698623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:168.25, Y:119.80, Z:0.80 [[-5.10854111e-01 -8.59664820e-01 2.11523096e-03 1.68251311e+02] [ 8.59656748e-01 -5.10858483e-01 -3.72630455e-03 1.19797345e+02] [ 4.28395662e-03 -8.52254269e-05 9.99990820e-01 8.02848906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72862385300004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:168.26, Y:119.78, Z:0.80 [[-5.12161499e-01 -8.58886557e-01 2.11666750e-03 1.68262733e+02] [ 8.58878482e-01 -5.12165865e-01 -3.72548838e-03 1.19781839e+02] [ 4.28385672e-03 -9.00915458e-05 9.99990820e-01 7.95245058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.758623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.27, Y:119.77, Z:0.80 [[-5.14122122e-01 -8.57714380e-01 2.11810420e-03 1.68273220e+02] [ 8.57706298e-01 -5.14126476e-01 -3.72467137e-03 1.19772525e+02] [ 4.28367764e-03 -9.82246397e-05 9.99990820e-01 7.95820843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78862385300005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.26, Y:119.79, Z:0.80 [[-5.14614131e-01 -8.57419269e-01 2.11952605e-03 1.68262952e+02] [ 8.57411189e-01 -5.14618486e-01 -3.72386208e-03 1.19794657e+02] [ 4.28365840e-03 -9.90466987e-05 9.99990820e-01 7.95481326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.818623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.27, Y:119.78, Z:0.80 [[-5.15116860e-01 -8.57117333e-01 2.12095590e-03 1.68274867e+02] [ 8.57109253e-01 -5.15121217e-01 -3.72304753e-03 1.19777028e+02] [ 4.28363795e-03 -9.99136280e-05 9.99990820e-01 7.96138623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.27, Y:119.79, Z:0.80 [[-5.14993386e-01 -8.57191524e-01 2.12238950e-03 1.68269522e+02] [ 8.57183447e-01 -5.14997750e-01 -3.72223010e-03 1.19790336e+02] [ 4.28368990e-03 -9.76467331e-05 9.99990820e-01 8.00709423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.878623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.28, Y:119.78, Z:0.80 [[-5.14635824e-01 -8.57406238e-01 2.12382182e-03 1.68277627e+02] [ 8.57398167e-01 -5.14640198e-01 -3.72141267e-03 1.19780169e+02] [ 4.28376652e-03 -9.42113365e-05 9.99990820e-01 7.95220632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.908623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.28, Y:119.78, Z:0.80 [[-5.12672121e-01 -8.58581842e-01 2.12525695e-03 1.68280385e+02] [ 8.58573785e-01 -5.12676519e-01 -3.72059290e-03 1.19783087e+02] [ 4.28400284e-03 -8.27543475e-05 9.99990820e-01 7.95747391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.938623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.28, Y:119.78, Z:0.80 [[-5.11358905e-01 -8.59364618e-01 2.12668864e-03 1.68283848e+02] [ 8.59356571e-01 -5.11363322e-01 -3.71977437e-03 1.19780853e+02] [ 4.28415305e-03 -7.45558872e-05 9.99990820e-01 7.95845220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.968623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.28, Y:119.79, Z:0.80 [[-5.09828312e-01 -8.60273540e-01 2.12812098e-03 1.68282882e+02] [ 8.60265504e-01 -5.09832749e-01 -3.71895473e-03 1.19786037e+02] [ 4.28430412e-03 -6.52793387e-05 9.99990820e-01 7.96397231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.30, Y:119.76, Z:0.80 [[-5.06172086e-01 -8.62429872e-01 2.12955636e-03 1.68297474e+02] [ 8.62421858e-01 -5.06176564e-01 -3.71813262e-03 1.19764367e+02] [ 4.28456016e-03 -4.54389973e-05 9.99990820e-01 7.95772425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.028623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.29, Y:119.77, Z:0.80 [[-5.04443157e-01 -8.63442274e-01 2.13098282e-03 1.68294026e+02] [ 8.63434272e-01 -5.04447657e-01 -3.71731489e-03 1.19772189e+02] [ 4.28465611e-03 -3.52104604e-05 9.99990820e-01 7.96287933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05862385300003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:168.30, Y:119.77, Z:0.80 [[-5.03015539e-01 -8.64274737e-01 2.13240234e-03 1.68295327e+02] [ 8.64266746e-01 -5.03020058e-01 -3.71650042e-03 1.19771639e+02] [ 4.28471857e-03 -2.64930310e-05 9.99990820e-01 7.97010312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.32, Y:119.73, Z:0.80 [[-4.99399677e-01 -8.66369096e-01 2.13382817e-03 1.68320372e+02] [ 8.66361128e-01 -4.99404235e-01 -3.71568159e-03 1.19731787e+02] [ 4.28479453e-03 -6.94440271e-06 9.99990820e-01 7.96219584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.33, Y:119.72, Z:0.80 [[-4.97837066e-01 -8.67267950e-01 2.13523125e-03 1.68327120e+02] [ 8.67259993e-01 -4.97841645e-01 -3.71487513e-03 1.19720688e+02] [ 4.28479918e-03 2.39810215e-06 9.99990820e-01 7.95478125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.33, Y:119.72, Z:0.80 [[-4.96670982e-01 -8.67936271e-01 2.13660674e-03 1.68329638e+02] [ 8.67928324e-01 -4.96675578e-01 -3.71408385e-03 1.19716213e+02] [ 4.28478848e-03 9.74383494e-06 9.99990820e-01 7.95687749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.34, Y:119.71, Z:0.80 [[-4.94077090e-01 -8.69415470e-01 2.13797557e-03 1.68335733e+02] [ 8.69407540e-01 -4.94081715e-01 -3.71329573e-03 1.19706425e+02] [ 4.28473139e-03 2.41177289e-05 9.99990820e-01 7.96749326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.208623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:168.33, Y:119.71, Z:0.81 [[-4.93270158e-01 -8.69873540e-01 2.13933843e-03 1.68331165e+02] [ 8.69865618e-01 -4.93274796e-01 -3.71251039e-03 1.19713235e+02] [ 4.28469628e-03 2.96663584e-05 9.99990820e-01 8.06779156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.34, Y:119.70, Z:0.80 [[-4.92512283e-01 -8.70302860e-01 2.14070187e-03 1.68340175e+02] [ 8.70294946e-01 -4.92516934e-01 -3.71172403e-03 1.19697123e+02] [ 4.28465596e-03 3.49723418e-05 9.99990820e-01 7.97323106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.268623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.34, Y:119.69, Z:0.80 [[-4.91856938e-01 -8.70673397e-01 2.14206264e-03 1.68341158e+02] [ 8.70665489e-01 -4.91861601e-01 -3.71093855e-03 1.19694633e+02] [ 4.28461384e-03 3.97691430e-05 9.99990820e-01 7.97554354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.69, Z:0.80 [[-4.91208464e-01 -8.71039408e-01 2.14341515e-03 1.68342520e+02] [ 8.71031508e-01 -4.91213138e-01 -3.71015719e-03 1.19690570e+02] [ 4.28456681e-03 4.45215189e-05 9.99990820e-01 7.98779287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.328623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:168.34, Y:119.70, Z:0.81 [[-4.91119465e-01 -8.71089588e-01 2.14476632e-03 1.68336635e+02] [ 8.71081692e-01 -4.91124146e-01 -3.70937594e-03 1.19698618e+02] [ 4.28454529e-03 4.65199452e-05 9.99990820e-01 8.06097063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.35, Y:119.68, Z:0.80 [[-4.91387536e-01 -8.70938393e-01 2.14612235e-03 1.68346135e+02] [ 8.70930498e-01 -4.91392220e-01 -3.70859122e-03 1.19680309e+02] [ 4.28454230e-03 4.67679059e-05 9.99990820e-01 7.98610522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.34, Y:119.68, Z:0.80 [[-4.91683241e-01 -8.70771485e-01 2.14747530e-03 1.68342991e+02] [ 8.70763592e-01 -4.91687928e-01 -3.70780762e-03 1.19682312e+02] [ 4.28454083e-03 4.68764367e-05 9.99990820e-01 7.97002791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41862385300004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:168.34, Y:119.68, Z:0.80 [[-4.92195307e-01 -8.70482144e-01 2.14882241e-03 1.68342804e+02] [ 8.70474251e-01 -4.92199996e-01 -3.70702676e-03 1.19680208e+02] [ 4.28455098e-03 4.59134059e-05 9.99990820e-01 7.96307351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.448623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.34, Y:119.68, Z:0.80 [[-4.92953695e-01 -8.70052890e-01 2.15017201e-03 1.68339454e+02] [ 8.70044997e-01 -4.92958382e-01 -3.70624379e-03 1.19683846e+02] [ 4.28457343e-03 4.37398280e-05 9.99990820e-01 7.96106824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.34, Y:119.68, Z:0.80 [[-4.94406448e-01 -8.69228183e-01 2.15152516e-03 1.68342358e+02] [ 8.69220286e-01 -4.94411128e-01 -3.70545810e-03 1.19675235e+02] [ 4.28462659e-03 3.81469373e-05 9.99990820e-01 7.97480641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.70, Z:0.80 [[-4.95433943e-01 -8.68642949e-01 2.15287846e-03 1.68327926e+02] [ 8.68635050e-01 -4.95438620e-01 -3.70467166e-03 1.19697420e+02] [ 4.28465605e-03 3.46455967e-05 9.99990820e-01 7.98396198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.34, Y:119.68, Z:0.80 [[-4.96386997e-01 -8.68098674e-01 2.15424229e-03 1.68337500e+02] [ 8.68090773e-01 -4.96391670e-01 -3.70387843e-03 1.19677810e+02] [ 4.28467989e-03 3.15207641e-05 9.99990820e-01 7.97481008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.568623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.33, Y:119.69, Z:0.80 [[-4.98204917e-01 -8.67056638e-01 2.15561020e-03 1.68327893e+02] [ 8.67048731e-01 -4.98209580e-01 -3.70308216e-03 1.19687498e+02] [ 4.28472762e-03 2.41253469e-05 9.99990820e-01 7.99935311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.32, Y:119.70, Z:0.80 [[-4.99318975e-01 -8.66415552e-01 2.15697649e-03 1.68319138e+02] [ 8.66407642e-01 -4.99323633e-01 -3.70228615e-03 1.19699587e+02] [ 4.28474763e-03 2.01991921e-05 9.99990820e-01 7.99917592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.71, Z:0.80 [[-5.00497872e-01 -8.65735076e-01 2.15835843e-03 1.68311638e+02] [ 8.65727163e-01 -5.00502526e-01 -3.70148033e-03 1.19709220e+02] [ 4.28476520e-03 1.59664940e-05 9.99990820e-01 7.99511389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.71, Z:0.80 [[-5.01639452e-01 -8.65074099e-01 2.15975547e-03 1.68309474e+02] [ 8.65066183e-01 -5.01644101e-01 -3.70066500e-03 1.19709774e+02] [ 4.28477803e-03 1.19318565e-05 9.99990820e-01 7.98513376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.70, Z:0.80 [[-5.03718607e-01 -8.63865091e-01 2.16116187e-03 1.68310752e+02] [ 8.63857168e-01 -5.03723243e-01 -3.69984349e-03 1.19700177e+02] [ 4.28479310e-03 3.25516395e-06 9.99990820e-01 7.99826353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.70, Z:0.80 [[-5.04045864e-01 -8.63674180e-01 2.16256702e-03 1.68312057e+02] [ 8.63666259e-01 -5.04050504e-01 -3.69902199e-03 1.19698091e+02] [ 4.28479278e-03 3.25943545e-06 9.99990820e-01 7.99815573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.748623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.31, Y:119.69, Z:0.80 [[-5.05037777e-01 -8.63094526e-01 2.16396818e-03 1.68312741e+02] [ 8.63086603e-01 -5.05042414e-01 -3.69820212e-03 1.19693550e+02] [ 4.28479371e-03 -3.98305162e-08 9.99990820e-01 8.00034688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.778623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:168.31, Y:119.69, Z:0.81 [[-5.06120377e-01 -8.62460130e-01 2.16536810e-03 1.68310771e+02] [ 8.62452204e-01 -5.06125009e-01 -3.69738225e-03 1.19692341e+02] [ 4.28479173e-03 -3.79400941e-06 9.99990820e-01 8.08694154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.30, Y:119.70, Z:0.80 [[-5.07528803e-01 -8.61632067e-01 2.16676817e-03 1.68301555e+02] [ 8.61624138e-01 -5.07533428e-01 -3.69656159e-03 1.19700778e+02] [ 4.28478328e-03 -9.17172163e-06 9.99990820e-01 8.02072372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.30, Y:119.69, Z:0.80 [[-5.08591771e-01 -8.61005058e-01 2.16817672e-03 1.68303982e+02] [ 8.60997126e-01 -5.08596392e-01 -3.69573524e-03 1.19693145e+02] [ 4.28477359e-03 -1.28266018e-05 9.99990820e-01 8.02752712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.68, Z:0.80 [[-5.09552645e-01 -8.60436747e-01 2.16958941e-03 1.68309120e+02] [ 8.60428814e-01 -5.09557263e-01 -3.69490573e-03 1.19680886e+02] [ 4.28476271e-03 -1.59717452e-05 9.99990820e-01 8.02643777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.68, Z:0.80 [[-5.10420214e-01 -8.59922375e-01 2.17099362e-03 1.68308131e+02] [ 8.59914441e-01 -5.10424831e-01 -3.69408048e-03 1.19678311e+02] [ 4.28475151e-03 -1.86645860e-05 9.99990820e-01 8.02287072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:168.30, Y:119.68, Z:0.81 [[-5.11885097e-01 -8.59051179e-01 2.17239244e-03 1.68301272e+02] [ 8.59043240e-01 -5.11889706e-01 -3.69325769e-03 1.19680844e+02] [ 4.28472270e-03 -2.43445270e-05 9.99990820e-01 8.08956716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.30, Y:119.69, Z:0.80 [[-5.12716659e-01 -8.58555125e-01 2.17379556e-03 1.68295065e+02] [ 8.58547185e-01 -5.12721267e-01 -3.69243165e-03 1.19687983e+02] [ 4.28470733e-03 -2.68651611e-05 9.99990820e-01 8.00793876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:168.29, Y:119.69, Z:0.81 [[-5.13601954e-01 -8.58025816e-01 2.17520862e-03 1.68288745e+02] [ 8.58017875e-01 -5.13606559e-01 -3.69159903e-03 1.19694568e+02] [ 4.28468869e-03 -2.96445983e-05 9.99990820e-01 8.08895557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.69, Z:0.80 [[-5.14546189e-01 -8.57459901e-01 2.17663342e-03 1.68290538e+02] [ 8.57451959e-01 -5.14550792e-01 -3.69075875e-03 1.19688725e+02] [ 4.28466608e-03 -3.27072591e-05 9.99990820e-01 8.01118946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.29, Y:119.69, Z:0.80 [[-5.16036446e-01 -8.56563858e-01 2.17806198e-03 1.68288552e+02] [ 8.56555911e-01 -5.16041041e-01 -3.68991551e-03 1.19685928e+02] [ 4.28461763e-03 -3.84990262e-05 9.99990820e-01 8.00821971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.67, Z:0.80 [[-5.16637957e-01 -8.56201186e-01 2.17948876e-03 1.68293514e+02] [ 8.56193240e-01 -5.16642553e-01 -3.68907257e-03 1.19674539e+02] [ 4.28460495e-03 -3.98513752e-05 9.99990820e-01 8.00582254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.67, Z:0.80 [[-5.17246369e-01 -8.55833768e-01 2.18091045e-03 1.68293020e+02] [ 8.55825821e-01 -5.17250965e-01 -3.68823191e-03 1.19671874e+02] [ 4.28459144e-03 -4.12450861e-05 9.99990820e-01 7.99593964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.68, Z:0.80 [[-5.17683000e-01 -8.55569722e-01 2.18232707e-03 1.68285606e+02] [ 8.55561777e-01 -5.17687598e-01 -3.68739350e-03 1.19680647e+02] [ 4.28458589e-03 -4.17852983e-05 9.99990820e-01 7.98811306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:119.68, Z:0.80 [[-5.18037947e-01 -8.55354849e-01 2.18375073e-03 1.68284971e+02] [ 8.55346905e-01 -5.18042548e-01 -3.68655018e-03 1.19676031e+02] [ 4.28458437e-03 -4.19084593e-05 9.99990820e-01 7.96565685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.66, Z:0.80 [[-5.18379517e-01 -8.55147883e-01 2.18518079e-03 1.68292658e+02] [ 8.55139941e-01 -5.18384121e-01 -3.68570233e-03 1.19660905e+02] [ 4.28458357e-03 -4.19572258e-05 9.99990820e-01 7.97698714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:119.68, Z:0.80 [[-5.18627031e-01 -8.54997790e-01 2.18660213e-03 1.68279087e+02] [ 8.54989851e-01 -5.18631639e-01 -3.68485891e-03 1.19681512e+02] [ 4.28458727e-03 -4.15448056e-05 9.99990820e-01 7.97997860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.67, Z:0.80 [[-5.18786833e-01 -8.54900833e-01 2.18803007e-03 1.68286496e+02] [ 8.54892896e-01 -5.18791446e-01 -3.68401081e-03 1.19666727e+02] [ 4.28459520e-03 -4.06849364e-05 9.99990820e-01 7.97963417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28862385300005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:168.29, Y:119.66, Z:0.80 [[-5.18791512e-01 -8.54897990e-01 2.18946446e-03 1.68286662e+02] [ 8.54890057e-01 -5.18796130e-01 -3.68315814e-03 1.19659901e+02] [ 4.28461018e-03 -3.90397856e-05 9.99990820e-01 8.02767498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.66, Z:0.80 [[-5.18271750e-01 -8.55213186e-01 2.19088910e-03 1.68286195e+02] [ 8.55205259e-01 -5.18276380e-01 -3.68231051e-03 1.19658501e+02] [ 4.28464657e-03 -3.47776292e-05 9.99990820e-01 7.96927958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.66, Z:0.80 [[-5.17607252e-01 -8.55615525e-01 2.19231224e-03 1.68285371e+02] [ 8.55607605e-01 -5.17611894e-01 -3.68146303e-03 1.19657245e+02] [ 4.28468381e-03 -2.97929371e-05 9.99990820e-01 7.95743704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.65, Z:0.79 [[-5.16250779e-01 -8.56434656e-01 2.19373720e-03 1.68287290e+02] [ 8.56426748e-01 -5.16255440e-01 -3.68061372e-03 1.19648442e+02] [ 4.28473391e-03 -2.13444900e-05 9.99990820e-01 7.94160726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:119.65, Z:0.79 [[-5.15556156e-01 -8.56852981e-01 2.19515919e-03 1.68281776e+02] [ 8.56845080e-01 -5.15560829e-01 -3.67976543e-03 1.19654576e+02] [ 4.28475607e-03 -1.62143622e-05 9.99990820e-01 7.93108083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:119.65, Z:0.79 [[-5.15057078e-01 -8.57153068e-01 2.19658349e-03 1.68282414e+02] [ 8.57145173e-01 -5.15061762e-01 -3.67891502e-03 1.19650414e+02] [ 4.28476946e-03 -1.20602820e-05 9.99990820e-01 7.91988712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.468623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:168.29, Y:119.64, Z:0.80 [[-5.14384081e-01 -8.57557104e-01 2.19801226e-03 1.68285629e+02] [ 8.57549216e-01 -5.14388777e-01 -3.67806119e-03 1.19635567e+02] [ 4.28478034e-03 -7.03243164e-06 9.99990820e-01 7.97143786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.498623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:168.28, Y:119.64, Z:0.80 [[-5.14477151e-01 -8.57501268e-01 2.19925431e-03 1.68280085e+02] [ 8.57493383e-01 -5.14481852e-01 -3.67731837e-03 1.19641347e+02] [ 4.28478159e-03 -6.05025814e-06 9.99990820e-01 7.95821574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.528623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.29, Y:119.63, Z:0.79 [[-5.14545727e-01 -8.57460117e-01 2.20067360e-03 1.68287036e+02] [ 8.57452235e-01 -5.14550433e-01 -3.67646880e-03 1.19628364e+02] [ 4.28478292e-03 -4.73881915e-06 9.99990820e-01 7.86188138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.63, Z:0.78 [[-5.15065521e-01 -8.57147980e-01 2.20209138e-03 1.68286639e+02] [ 8.57140100e-01 -5.15070228e-01 -3.67561940e-03 1.19626369e+02] [ 4.28478145e-03 -5.68399796e-06 9.99990820e-01 7.84485806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:119.63, Z:0.78 [[-5.15852185e-01 -8.56674774e-01 2.20350315e-03 1.68278645e+02] [ 8.56666892e-01 -5.15856891e-01 -3.67477286e-03 1.19632848e+02] [ 4.28477749e-03 -7.97140997e-06 9.99990820e-01 7.84048901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.29, Y:119.62, Z:0.78 [[-5.16734287e-01 -8.56142987e-01 2.20492146e-03 1.68285092e+02] [ 8.56135104e-01 -5.16738991e-01 -3.67392166e-03 1.19619041e+02] [ 4.28477115e-03 -1.07306260e-05 9.99990820e-01 7.84127542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.648623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.28, Y:119.63, Z:0.78 [[-5.17629100e-01 -8.55602272e-01 2.20633943e-03 1.68279307e+02] [ 8.55594388e-01 -5.17633802e-01 -3.67306991e-03 1.19626525e+02] [ 4.28476282e-03 -1.35562337e-05 9.99990820e-01 7.84753391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:119.62, Z:0.78 [[-5.19646303e-01 -8.54378631e-01 2.20775638e-03 1.68279696e+02] [ 8.54370740e-01 -5.19650993e-01 -3.67221803e-03 1.19622334e+02] [ 4.28472741e-03 -2.20120742e-05 9.99990820e-01 7.83568421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:119.62, Z:0.78 [[-5.21193819e-01 -8.53435483e-01 2.20917894e-03 1.68278286e+02] [ 8.53427586e-01 -5.21198500e-01 -3.67136203e-03 1.19622883e+02] [ 4.28469138e-03 -2.81169472e-05 9.99990820e-01 7.82424447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.37, Y:119.52, Z:0.79 [[-4.82119575e-01 -8.76102636e-01 2.21060213e-03 1.68371758e+02] [ 8.76094963e-01 -4.82124614e-01 -3.67050490e-03 1.19524865e+02] [ 4.28152472e-03 1.67075131e-04 9.99990820e-01 7.94064878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:119.52, Z:0.80 [[-4.83315246e-01 -8.75443593e-01 2.21094083e-03 1.68368912e+02] [ 8.75435914e-01 -4.83320276e-01 -3.67030087e-03 1.19520637e+02] [ 4.28173391e-03 1.61624635e-04 9.99990820e-01 7.95108961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:119.51, Z:0.80 [[-4.84783490e-01 -8.74631393e-01 2.21224008e-03 1.68375366e+02] [ 8.74623709e-01 -4.84788512e-01 -3.66951759e-03 1.19505470e+02] [ 4.28194386e-03 1.55956080e-04 9.99990820e-01 7.96007519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:119.53, Z:0.80 [[-4.88615241e-01 -8.72496559e-01 2.21353290e-03 1.68355701e+02] [ 8.72488857e-01 -4.88620236e-01 -3.66873757e-03 1.19529973e+02] [ 4.28253787e-03 1.38681693e-04 9.99990820e-01 7.98955404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:119.52, Z:0.80 [[-4.90974020e-01 -8.71171399e-01 2.21483420e-03 1.68356784e+02] [ 8.71163686e-01 -4.90978999e-01 -3.66795180e-03 1.19524565e+02] [ 4.28285178e-03 1.28614080e-04 9.99990820e-01 7.99149525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.52, Z:0.80 [[-4.93936550e-01 -8.69495125e-01 2.21614898e-03 1.68354447e+02] [ 8.69487400e-01 -4.93941508e-01 -3.66715724e-03 1.19524580e+02] [ 4.28322332e-03 1.15570619e-04 9.99990820e-01 7.99315301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.53, Z:0.80 [[-4.97128976e-01 -8.67673824e-01 2.21746390e-03 1.68350715e+02] [ 8.67666083e-01 -4.97133911e-01 -3.66636197e-03 1.19527984e+02] [ 4.28358281e-03 1.01363449e-04 9.99990820e-01 7.98147725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.80 [[-5.04433088e-01 -8.63447935e-01 2.21878346e-03 1.68333003e+02] [ 8.63440157e-01 -5.04437963e-01 -3.66556323e-03 1.19552998e+02] [ 4.28426161e-03 6.67553631e-05 9.99990820e-01 7.98749756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.56, Z:0.80 [[-5.08319833e-01 -8.61165500e-01 2.22012175e-03 1.68327447e+02] [ 8.61157704e-01 -5.08324678e-01 -3.66475249e-03 1.19561408e+02] [ 4.28450109e-03 4.90085798e-05 9.99990820e-01 7.98376999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.59, Z:0.80 [[-5.12355993e-01 -8.58770284e-01 2.22148107e-03 1.68310808e+02] [ 8.58762469e-01 -5.12360808e-01 -3.66392832e-03 1.19588592e+02] [ 4.28467260e-03 3.04889380e-05 9.99990820e-01 7.97373159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.60, Z:0.80 [[-5.19795755e-01 -8.54287676e-01 2.22286301e-03 1.68305035e+02] [ 8.54279822e-01 -5.19800507e-01 -3.66308972e-03 1.19598859e+02] [ 4.28477772e-03 -5.11146620e-06 9.99990820e-01 7.97951347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.60, Z:0.80 [[-5.23343977e-01 -8.52118615e-01 2.22426950e-03 1.68306207e+02] [ 8.52110746e-01 -5.23348703e-01 -3.66223548e-03 1.19596422e+02] [ 4.28472759e-03 -2.12849409e-05 9.99990820e-01 7.99227646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.60, Z:0.80 [[-5.26685739e-01 -8.50057162e-01 2.22568296e-03 1.68306277e+02] [ 8.50049278e-01 -5.26690440e-01 -3.66137627e-03 1.19595302e+02] [ 4.28462506e-03 -3.64544703e-05 9.99990820e-01 7.99998247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:119.57, Z:0.80 [[-5.32024669e-01 -8.46725925e-01 2.22709657e-03 1.68321662e+02] [ 8.46718015e-01 -5.32029327e-01 -3.66051621e-03 1.19568882e+02] [ 4.28433466e-03 -6.17621438e-05 9.99990820e-01 7.98930217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.31, Y:119.59, Z:0.80 [[-5.34300046e-01 -8.45291958e-01 2.22849578e-03 1.68308968e+02] [ 8.45284039e-01 -5.34304689e-01 -3.65966419e-03 1.19589503e+02] [ 4.28418045e-03 -7.16468316e-05 9.99990820e-01 7.98737210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:119.57, Z:0.80 [[-5.36240946e-01 -8.44062010e-01 2.22989420e-03 1.68322750e+02] [ 8.44054083e-01 -5.36245576e-01 -3.65881191e-03 1.19567401e+02] [ 4.28403503e-03 -7.98534539e-05 9.99990820e-01 7.96449622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.56, Z:0.80 [[-5.39183034e-01 -8.42185655e-01 2.23129391e-03 1.68325101e+02] [ 8.42177716e-01 -5.39187643e-01 -3.65795811e-03 1.19564873e+02] [ 4.28376595e-03 -9.31629398e-05 9.99990820e-01 7.96461094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.248623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.80 [[-5.40266132e-01 -8.41491249e-01 2.23268109e-03 1.68331562e+02] [ 8.41483308e-01 -5.40270736e-01 -3.65711123e-03 1.19553543e+02] [ 4.28367935e-03 -9.70494679e-05 9.99990820e-01 8.03804571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.54, Z:0.80 [[-5.41084773e-01 -8.40965087e-01 2.23406203e-03 1.68342374e+02] [ 8.40957145e-01 -5.41089376e-01 -3.65626744e-03 1.19537366e+02] [ 4.28362050e-03 -9.96002095e-05 9.99990820e-01 7.96210002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.80 [[-5.41537056e-01 -8.40673908e-01 2.23542922e-03 1.68332705e+02] [ 8.40665967e-01 -5.41541661e-01 -3.65543136e-03 1.19553447e+02] [ 4.28360381e-03 -1.00302272e-04 9.99990820e-01 7.97826145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.80 [[-5.41452080e-01 -8.40728638e-01 2.23679809e-03 1.68334328e+02] [ 8.40720700e-01 -5.41456691e-01 -3.65459354e-03 1.19550430e+02] [ 4.28365074e-03 -9.82648170e-05 9.99990820e-01 7.98628747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.80 [[-5.41500137e-01 -8.40697682e-01 2.23817650e-03 1.68331837e+02] [ 8.40689748e-01 -5.41504754e-01 -3.65374916e-03 1.19553387e+02] [ 4.28368167e-03 -9.68936332e-05 9.99990820e-01 8.04937065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.54, Z:0.80 [[-5.41311117e-01 -8.40819398e-01 2.23955754e-03 1.68342401e+02] [ 8.40811468e-01 -5.41315741e-01 -3.65290246e-03 1.19537522e+02] [ 4.28373900e-03 -9.43110468e-05 9.99990820e-01 7.99853158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.56, Z:0.80 [[-5.40250433e-01 -8.41501306e-01 2.24093284e-03 1.68329618e+02] [ 8.41493386e-01 -5.40255073e-01 -3.65205857e-03 1.19558026e+02] [ 4.28388739e-03 -8.72960567e-05 9.99990820e-01 8.00633364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.54, Z:0.80 [[-5.39710485e-01 -8.41847708e-01 2.24231324e-03 1.68340106e+02] [ 8.41839794e-01 -5.39715137e-01 -3.65121082e-03 1.19540545e+02] [ 4.28397386e-03 -8.29282493e-05 9.99990820e-01 8.00380252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.80 [[-5.38968321e-01 -8.42323046e-01 2.24369740e-03 1.68332185e+02] [ 8.42315140e-01 -5.38972986e-01 -3.65036005e-03 1.19553151e+02] [ 4.28407468e-03 -7.75281379e-05 9.99990820e-01 8.00300525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:119.57, Z:0.80 [[-5.36927272e-01 -8.43625547e-01 2.24508124e-03 1.68323162e+02] [ 8.43617656e-01 -5.36931962e-01 -3.64950875e-03 1.19566608e+02] [ 4.28427469e-03 -6.55306064e-05 9.99990820e-01 7.99167679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.54, Z:0.80 [[-5.35830886e-01 -8.44322341e-01 2.24648298e-03 1.68337777e+02] [ 8.44314459e-01 -5.35835592e-01 -3.64864569e-03 1.19542558e+02] [ 4.28437861e-03 -5.83189967e-05 9.99990820e-01 7.97962800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.80 [[-5.34645744e-01 -8.45073296e-01 2.24788088e-03 1.68330538e+02] [ 8.45065424e-01 -5.34650467e-01 -3.64778426e-03 1.19554679e+02] [ 4.28447563e-03 -5.06659179e-05 9.99990820e-01 7.97042097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.80 [[-5.34970363e-01 -8.44867831e-01 2.24927383e-03 1.68331904e+02] [ 8.44859961e-01 -5.34975089e-01 -3.64692515e-03 1.19552604e+02] [ 4.28447520e-03 -5.06754695e-05 9.99990820e-01 7.97031317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.33, Y:119.56, Z:0.80 [[-5.33651084e-01 -8.45701753e-01 2.25067457e-03 1.68330592e+02] [ 8.45693894e-01 -5.33655828e-01 -3.64606048e-03 1.19555217e+02] [ 4.28456534e-03 -4.23423815e-05 9.99990820e-01 7.96311753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.56, Z:0.79 [[-5.30735162e-01 -8.47534729e-01 2.25207803e-03 1.68327625e+02] [ 8.47526890e-01 -5.30739939e-01 -3.64519339e-03 1.19557965e+02] [ 4.28469575e-03 -2.59356123e-05 9.99990820e-01 7.94648343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.79 [[-5.29409128e-01 -8.48363659e-01 2.25348681e-03 1.68334339e+02] [ 8.48355831e-01 -5.29413924e-01 -3.64432227e-03 1.19545215e+02] [ 4.28473787e-03 -1.75787961e-05 9.99990820e-01 7.94965909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.33, Y:119.55, Z:0.80 [[-5.28108017e-01 -8.49174209e-01 2.25489266e-03 1.68330321e+02] [ 8.49166393e-01 -5.28112831e-01 -3.64345220e-03 1.19548797e+02] [ 4.28476339e-03 -9.35725458e-06 9.99990820e-01 8.00082750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.54, Z:0.79 [[-5.24717431e-01 -8.51273474e-01 2.25629628e-03 1.68332613e+02] [ 8.51265681e-01 -5.24722281e-01 -3.64258277e-03 1.19542589e+02] [ 4.28476302e-03 9.38091289e-06 9.99990820e-01 7.93724077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.53, Z:0.79 [[-5.23248959e-01 -8.52176877e-01 2.25770098e-03 1.68338262e+02] [ 8.52169096e-01 -5.23253829e-01 -3.64171192e-03 1.19531565e+02] [ 4.28473337e-03 1.84210316e-05 9.99990820e-01 7.93338200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.52, Z:0.79 [[-5.22060348e-01 -8.52905557e-01 2.25909810e-03 1.68344625e+02] [ 8.52897787e-01 -5.22065235e-01 -3.64084503e-03 1.19518808e+02] [ 4.28469353e-03 2.60389461e-05 9.99990820e-01 7.93512577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.34, Y:119.52, Z:0.80 [[-5.21024537e-01 -8.53538706e-01 2.26048426e-03 1.68342123e+02] [ 8.53530945e-01 -5.21029440e-01 -3.63998420e-03 1.19520444e+02] [ 4.28464625e-03 3.28721848e-05 9.99990820e-01 7.95287945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.51, Z:0.80 [[-5.18649598e-01 -8.54983905e-01 2.26186666e-03 1.68345757e+02] [ 8.54976162e-01 -5.18654528e-01 -3.63912498e-03 1.19508498e+02] [ 4.28452067e-03 4.64113708e-05 9.99990820e-01 7.96936504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.50, Z:0.80 [[-5.17595629e-01 -8.55622371e-01 2.26324670e-03 1.68350374e+02] [ 8.55614638e-01 -5.17600575e-01 -3.63826650e-03 1.19497206e+02] [ 4.28444000e-03 5.33161599e-05 9.99990820e-01 7.97694574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.51, Z:0.80 [[-5.16729844e-01 -8.56145513e-01 2.26461693e-03 1.68342065e+02] [ 8.56137788e-01 -5.16734803e-01 -3.63741341e-03 1.19506218e+02] [ 4.28436155e-03 5.92640676e-05 9.99990820e-01 8.00119258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.48, Z:0.80 [[-5.15244986e-01 -8.57039947e-01 2.26598931e-03 1.68351925e+02] [ 8.57032234e-01 -5.15249964e-01 -3.63655826e-03 1.19481263e+02] [ 4.28422661e-03 6.83074757e-05 9.99990820e-01 7.99934610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.49, Z:0.80 [[-5.15003426e-01 -8.57185121e-01 2.26735690e-03 1.68346815e+02] [ 8.57177413e-01 -5.15008412e-01 -3.63570539e-03 1.19485154e+02] [ 4.28418043e-03 7.11263909e-05 9.99990820e-01 7.98889374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.48, Z:0.80 [[-5.15112825e-01 -8.57119380e-01 2.26871639e-03 1.68349913e+02] [ 8.57111675e-01 -5.15117816e-01 -3.63485685e-03 1.19476296e+02] [ 4.28416248e-03 7.21819234e-05 9.99990820e-01 7.97239144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.35, Y:119.47, Z:0.80 [[-5.15908110e-01 -8.56640922e-01 2.27007666e-03 1.68348414e+02] [ 8.56633217e-01 -5.15913100e-01 -3.63400712e-03 1.19472414e+02] [ 4.28420150e-03 6.98093201e-05 9.99990820e-01 7.95823903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.48, Z:0.79 [[-5.17165347e-01 -8.55882495e-01 2.27143309e-03 1.68342425e+02] [ 8.55874786e-01 -5.17170331e-01 -3.63315909e-03 1.19478985e+02] [ 4.28427507e-03 6.51183279e-05 9.99990820e-01 7.93046912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.47, Z:0.79 [[-5.18784501e-01 -8.54902028e-01 2.27270889e-03 1.68345345e+02] [ 8.54894313e-01 -5.18789476e-01 -3.63236084e-03 1.19471394e+02] [ 4.28437010e-03 5.85133945e-05 9.99990820e-01 7.94134233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.148623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:168.33, Y:119.49, Z:0.80 [[-5.22159916e-01 -8.52844564e-01 2.27407199e-03 1.68329513e+02] [ 8.52836833e-01 -5.22164866e-01 -3.63150726e-03 1.19488487e+02] [ 4.28455172e-03 4.31848314e-05 9.99990820e-01 8.00386277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.49, Z:0.79 [[-5.24205921e-01 -8.51588501e-01 2.27544462e-03 1.68328970e+02] [ 8.51580762e-01 -5.24210859e-01 -3.63064699e-03 1.19486688e+02] [ 4.28463000e-03 3.45182115e-05 9.99990820e-01 7.94213101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.33, Y:119.49, Z:0.79 [[-5.26362256e-01 -8.50257368e-01 2.27683055e-03 1.68326447e+02] [ 8.50249620e-01 -5.26367180e-01 -3.62977764e-03 1.19488027e+02] [ 4.28469406e-03 2.52963621e-05 9.99990820e-01 7.93454050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:119.50, Z:0.79 [[-5.30506494e-01 -8.47677810e-01 2.27821915e-03 1.68317142e+02] [ 8.47670042e-01 -5.30511386e-01 -3.62890589e-03 1.19499065e+02] [ 4.28476419e-03 6.01998149e-06 9.99990820e-01 7.94435453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.48, Z:0.80 [[-5.32829582e-01 -8.46219499e-01 2.27961857e-03 1.68327167e+02] [ 8.46211721e-01 -5.32834459e-01 -3.62802658e-03 1.19481694e+02] [ 4.28476616e-03 -4.07993274e-06 9.99990820e-01 7.95515807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.32, Y:119.49, Z:0.80 [[-5.34859171e-01 -8.44938142e-01 2.28101718e-03 1.68320957e+02] [ 8.44930357e-01 -5.34864034e-01 -3.62714703e-03 1.19490286e+02] [ 4.28474892e-03 -1.27121900e-05 9.99990820e-01 7.96317536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:119.47, Z:0.80 [[-5.36827073e-01 -8.43689211e-01 2.28241335e-03 1.68334790e+02] [ 8.43681418e-01 -5.36831925e-01 -3.62626826e-03 1.19466136e+02] [ 4.28471576e-03 -2.10492432e-05 9.99990820e-01 7.96385962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.34, Y:119.46, Z:0.80 [[-5.40266536e-01 -8.41490852e-01 2.28380268e-03 1.68338863e+02] [ 8.41483043e-01 -5.40271362e-01 -3.62539306e-03 1.19455635e+02] [ 4.28460828e-03 -3.68973221e-05 9.99990820e-01 7.97249302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.34, Y:119.46, Z:0.80 [[-5.42002096e-01 -8.40374027e-01 2.28517501e-03 1.68337327e+02] [ 8.40366212e-01 -5.42006912e-01 -3.62452784e-03 1.19456953e+02] [ 4.28453971e-03 -4.41178162e-05 9.99990820e-01 7.96296162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41862385300004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:168.34, Y:119.46, Z:0.80 [[-5.43897019e-01 -8.39148857e-01 2.28654455e-03 1.68337302e+02] [ 8.39141035e-01 -5.43901823e-01 -3.62366366e-03 1.19456652e+02] [ 4.28444896e-03 -5.21665062e-05 9.99990820e-01 7.96070310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.448623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.34, Y:119.45, Z:0.79 [[-5.46640364e-01 -8.37364364e-01 2.28791713e-03 1.68343275e+02] [ 8.37356529e-01 -5.46645148e-01 -3.62279682e-03 1.19448045e+02] [ 4.28427976e-03 -6.45646239e-05 9.99990820e-01 7.92890856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.44, Z:0.79 [[-5.47928450e-01 -8.36522070e-01 2.28928646e-03 1.68345711e+02] [ 8.36514232e-01 -5.47933228e-01 -3.62193132e-03 1.19444884e+02] [ 4.28420161e-03 -6.95385070e-05 9.99990820e-01 7.93047973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.44, Z:0.79 [[-5.49104153e-01 -8.35750789e-01 2.29065099e-03 1.68350424e+02] [ 8.35742948e-01 -5.49108926e-01 -3.62106814e-03 1.19436981e+02] [ 4.28412746e-03 -7.39481393e-05 9.99990820e-01 7.92979053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.44, Z:0.79 [[-5.50462909e-01 -8.34856474e-01 2.29201140e-03 1.68350472e+02] [ 8.34848629e-01 -5.50467675e-01 -3.62020684e-03 1.19435358e+02] [ 4.28403130e-03 -7.93070103e-05 9.99990820e-01 7.91240256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:119.42, Z:0.79 [[-5.51464021e-01 -8.34195525e-01 2.29336861e-03 1.68357906e+02] [ 8.34187678e-01 -5.51468783e-01 -3.61934685e-03 1.19422830e+02] [ 4.28396415e-03 -8.28397349e-05 9.99990820e-01 7.91156977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:119.44, Z:0.79 [[-5.52386991e-01 -8.33584637e-01 2.29472001e-03 1.68349217e+02] [ 8.33576788e-01 -5.52391750e-01 -3.61848985e-03 1.19436827e+02] [ 4.28390194e-03 -8.59813858e-05 9.99990820e-01 7.89764530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.628623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.36, Y:119.42, Z:0.79 [[-5.53164299e-01 -8.33069016e-01 2.29607459e-03 1.68357548e+02] [ 8.33061166e-01 -5.53169058e-01 -3.61763011e-03 1.19424622e+02] [ 4.28385297e-03 -8.83732496e-05 9.99990820e-01 7.89323883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:119.42, Z:0.79 [[-5.54543804e-01 -8.32151363e-01 2.29743216e-03 1.68363290e+02] [ 8.32143509e-01 -5.54548555e-01 -3.61676775e-03 1.19418482e+02] [ 4.28373590e-03 -9.38628850e-05 9.99990820e-01 7.89616519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:119.42, Z:0.79 [[-5.55313031e-01 -8.31638235e-01 2.29878084e-03 1.68361789e+02] [ 8.31630379e-01 -5.55317781e-01 -3.61591035e-03 1.19422352e+02] [ 4.28368317e-03 -9.62261565e-05 9.99990820e-01 7.89684482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:119.41, Z:0.79 [[-5.55853892e-01 -8.31276825e-01 2.30012963e-03 1.68372278e+02] [ 8.31268970e-01 -5.55858643e-01 -3.61505216e-03 1.19406865e+02] [ 4.28365601e-03 -9.74144236e-05 9.99990820e-01 7.90125773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:119.41, Z:0.79 [[-5.56543953e-01 -8.30814980e-01 2.30147331e-03 1.68373649e+02] [ 8.30807125e-01 -5.56548703e-01 -3.61419651e-03 1.19405140e+02] [ 4.28361059e-03 -9.93787877e-05 9.99990820e-01 7.90149215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:119.41, Z:0.79 [[-5.56923485e-01 -8.30560611e-01 2.30280914e-03 1.68371150e+02] [ 8.30552757e-01 -5.56928237e-01 -3.61334519e-03 1.19409210e+02] [ 4.28360162e-03 -9.97523167e-05 9.99990820e-01 7.89150654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.38, Y:119.39, Z:0.79 [[-5.57119214e-01 -8.30429330e-01 2.30414830e-03 1.68381324e+02] [ 8.30421479e-01 -5.57123970e-01 -3.61249103e-03 1.19393948e+02] [ 4.28361475e-03 -9.91739184e-05 9.99990820e-01 7.89028984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:119.41, Z:0.79 [[-5.56891868e-01 -8.30581804e-01 2.30548286e-03 1.68371388e+02] [ 8.30573957e-01 -5.56896632e-01 -3.61163911e-03 1.19410750e+02] [ 4.28367737e-03 -9.64184262e-05 9.99990820e-01 7.89346486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:119.40, Z:0.79 [[-5.57037529e-01 -8.30484118e-01 2.30682010e-03 1.68378632e+02] [ 8.30476274e-01 -5.57042297e-01 -3.61078479e-03 1.19400909e+02] [ 4.28369579e-03 -9.55832769e-05 9.99990820e-01 7.89499920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:119.40, Z:0.79 [[-5.57208856e-01 -8.30369173e-01 2.30816307e-03 1.68383075e+02] [ 8.30361332e-01 -5.57213628e-01 -3.60992611e-03 1.19395427e+02] [ 4.28371128e-03 -9.48734343e-05 9.99990820e-01 7.89409301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92862385300003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:168.38, Y:119.40, Z:0.79 [[-5.57263773e-01 -8.30332315e-01 2.30949861e-03 1.68378688e+02] [ 8.30324477e-01 -5.57268551e-01 -3.60907148e-03 1.19404711e+02] [ 4.28373962e-03 -9.35715683e-05 9.99990820e-01 7.94384417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:119.39, Z:0.79 [[-5.57598830e-01 -8.30107345e-01 2.31083813e-03 1.68386342e+02] [ 8.30099509e-01 -5.57603611e-01 -3.60821360e-03 1.19394914e+02] [ 4.28373629e-03 -9.37100888e-05 9.99990820e-01 7.89133379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.39, Y:119.39, Z:0.79 [[-5.57920460e-01 -8.29891206e-01 2.31217820e-03 1.68393559e+02] [ 8.29883371e-01 -5.57925243e-01 -3.60735466e-03 1.19385464e+02] [ 4.28373450e-03 -9.37787357e-05 9.99990820e-01 7.88686198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:119.40, Z:0.79 [[-5.58426054e-01 -8.29551077e-01 2.31350914e-03 1.68386936e+02] [ 8.29543243e-01 -5.58430838e-01 -3.60650089e-03 1.19400702e+02] [ 4.28371154e-03 -9.48081860e-05 9.99990820e-01 7.89297355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.40, Y:119.39, Z:0.79 [[-5.58808836e-01 -8.29293269e-01 2.31484447e-03 1.68395323e+02] [ 8.29285436e-01 -5.58813623e-01 -3.60564360e-03 1.19389807e+02] [ 4.28370259e-03 -9.51986959e-05 9.99990820e-01 7.87830092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:119.40, Z:0.79 [[-5.59191622e-01 -8.29035202e-01 2.31618272e-03 1.68391217e+02] [ 8.29027370e-01 -5.59196410e-01 -3.60478373e-03 1.19398794e+02] [ 4.28369367e-03 -9.55859961e-05 9.99990820e-01 7.89782607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:119.40, Z:0.79 [[-5.59786824e-01 -8.28633418e-01 2.31752108e-03 1.68393987e+02] [ 8.28625586e-01 -5.59791613e-01 -3.60392309e-03 1.19398992e+02] [ 4.28365997e-03 -9.70714009e-05 9.99990820e-01 7.88939678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:119.39, Z:0.79 [[-5.60169372e-01 -8.28374854e-01 2.31886583e-03 1.68401056e+02] [ 8.28367023e-01 -5.60174163e-01 -3.60305763e-03 1.19390210e+02] [ 4.28365106e-03 -9.74505411e-05 9.99990820e-01 7.86911828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:119.40, Z:0.79 [[-5.60257406e-01 -8.28315312e-01 2.32020636e-03 1.68395704e+02] [ 8.28307485e-01 -5.60262202e-01 -3.60219418e-03 1.19401248e+02] [ 4.28367652e-03 -9.63116717e-05 9.99990820e-01 7.87245193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.198623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:168.39, Y:119.42, Z:0.79 [[-5.60195011e-01 -8.28357507e-01 2.32154960e-03 1.68385215e+02] [ 8.28349684e-01 -5.60199813e-01 -3.60132828e-03 1.19418860e+02] [ 4.28371897e-03 -9.43912605e-05 9.99990820e-01 7.92014959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.40, Y:119.41, Z:0.79 [[-5.58747317e-01 -8.29334697e-01 2.32291081e-03 1.68395214e+02] [ 8.29326886e-01 -5.58752139e-01 -3.60045007e-03 1.19408428e+02] [ 4.28390955e-03 -8.52894308e-05 9.99990820e-01 7.87760866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:119.42, Z:0.79 [[-5.57951485e-01 -8.29870314e-01 2.32427707e-03 1.68389662e+02] [ 8.29862511e-01 -5.57956321e-01 -3.59956786e-03 1.19419743e+02] [ 4.28401959e-03 -7.95538325e-05 9.99990820e-01 7.88194906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:119.42, Z:0.79 [[-5.57072800e-01 -8.30460407e-01 2.32564501e-03 1.68390570e+02] [ 8.30452613e-01 -5.57077649e-01 -3.59868383e-03 1.19420945e+02] [ 4.28412929e-03 -7.33908958e-05 9.99990820e-01 7.87886475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.318623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.39, Y:119.43, Z:0.79 [[-5.54268562e-01 -8.32334636e-01 2.32702170e-03 1.68390050e+02] [ 8.32326862e-01 -5.54273444e-01 -3.59779340e-03 1.19425344e+02] [ 4.28437439e-03 -5.73011006e-05 9.99990820e-01 7.87499152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.39, Y:119.43, Z:0.79 [[-5.52915269e-01 -8.33234231e-01 2.32840264e-03 1.68385381e+02] [ 8.33226469e-01 -5.52920169e-01 -3.59689947e-03 1.19434087e+02] [ 4.28448054e-03 -4.86939285e-05 9.99990820e-01 7.87304825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.378623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.38, Y:119.45, Z:0.79 [[-5.51572179e-01 -8.34123914e-01 2.32979274e-03 1.68378241e+02] [ 8.34116163e-01 -5.51577098e-01 -3.59599885e-03 1.19445896e+02] [ 4.28456895e-03 -4.01351411e-05 9.99990820e-01 7.89441345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.38, Y:119.44, Z:0.79 [[-5.50091270e-01 -8.35101288e-01 2.33119756e-03 1.68380742e+02] [ 8.35093550e-01 -5.50096209e-01 -3.59508790e-03 1.19444623e+02] [ 4.28464547e-03 -3.08584184e-05 9.99990820e-01 7.86587309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.438623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.38, Y:119.45, Z:0.79 [[-5.48599941e-01 -8.36081733e-01 2.33261043e-03 1.68377753e+02] [ 8.36074007e-01 -5.48604900e-01 -3.59417095e-03 1.19450849e+02] [ 4.28470219e-03 -2.15270269e-05 9.99990820e-01 7.85674574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:119.43, Z:0.78 [[-5.45909880e-01 -8.37840650e-01 2.33402776e-03 1.68390313e+02] [ 8.37832945e-01 -5.45914869e-01 -3.59325031e-03 1.19432622e+02] [ 4.28475164e-03 -6.06549412e-06 9.99990820e-01 7.84467562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.498623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.39, Y:119.44, Z:0.79 [[-5.44773473e-01 -8.38579996e-01 2.33543941e-03 1.68387140e+02] [ 8.38572301e-01 -5.44778479e-01 -3.59233257e-03 1.19437480e+02] [ 4.28475536e-03 1.42731490e-06 9.99990820e-01 7.86930732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.528623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.39, Y:119.44, Z:0.79 [[-5.45102620e-01 -8.38366074e-01 2.33684495e-03 1.68388559e+02] [ 8.38358381e-01 -5.45107629e-01 -3.59141802e-03 1.19435433e+02] [ 4.28475504e-03 1.42217913e-06 9.99990820e-01 7.86919951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.40, Y:119.42, Z:0.79 [[-5.43685422e-01 -8.39285824e-01 2.33825443e-03 1.68401933e+02] [ 8.39278144e-01 -5.43690450e-01 -3.59050012e-03 1.19416341e+02] [ 4.28474246e-03 1.03432676e-05 9.99990820e-01 7.85016027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.588623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:168.40, Y:119.41, Z:0.79 [[-5.40878228e-01 -8.41097657e-01 2.33965238e-03 1.68404559e+02] [ 8.41089998e-01 -5.40883287e-01 -3.58958896e-03 1.19412968e+02] [ 4.28467373e-03 2.63276977e-05 9.99990820e-01 7.85010150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:168.41, Y:119.41, Z:0.79 [[-5.39488887e-01 -8.41989466e-01 2.34103824e-03 1.68405813e+02] [ 8.41981818e-01 -5.39493965e-01 -3.58868491e-03 1.19411719e+02] [ 4.28461089e-03 3.50560091e-05 9.99990820e-01 7.85714134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.648623853 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:168.42, Y:119.39, Z:0.79 [[-5.38282035e-01 -8.42761510e-01 2.34242329e-03 1.68421119e+02] [ 8.42753875e-01 -5.38287130e-01 -3.58778062e-03 1.19388328e+02] [ 4.28453973e-03 4.28484478e-05 9.99990820e-01 7.86002445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67862385300003 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:168.41, Y:119.40, Z:0.79 [[-5.36098485e-01 -8.44152191e-01 2.34379581e-03 1.68409404e+02] [ 8.44144572e-01 -5.36103606e-01 -3.58688377e-03 1.19403583e+02] [ 4.28439318e-03 5.55795514e-05 9.99990820e-01 7.88480204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.708623853 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:168.42, Y:119.39, Z:0.79 [[-5.35004424e-01 -8.44846001e-01 2.34516593e-03 1.68421399e+02] [ 8.44838393e-01 -5.35009561e-01 -3.58598773e-03 1.19386294e+02] [ 4.28429359e-03 6.27669155e-05 9.99990820e-01 7.86680223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73862385300004 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:168.43, Y:119.38, Z:0.79 [[-5.34341814e-01 -8.45265236e-01 2.34653730e-03 1.68427623e+02] [ 8.45257636e-01 -5.34346962e-01 -3.58509014e-03 1.19376659e+02] [ 4.28421714e-03 6.77650079e-05 9.99990820e-01 7.86248236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.768623853 meters Centerline goodness : 0.996983 Centerline is valid? [True, True] Translation: X:168.42, Y:119.39, Z:0.79 [[-5.34447149e-01 -8.45198635e-01 2.34789482e-03 1.68417442e+02] [ 8.45191038e-01 -5.34452302e-01 -3.58420087e-03 1.19389111e+02] [ 4.28419947e-03 6.88537218e-05 9.99990820e-01 7.90557275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79862385300004 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:168.40, Y:119.42, Z:0.79 [[-5.33267844e-01 -8.45943194e-01 2.34925647e-03 1.68398574e+02] [ 8.45935608e-01 -5.33273013e-01 -3.58330816e-03 1.19417095e+02] [ 4.28407023e-03 7.64566856e-05 9.99990820e-01 7.86113479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.828623853 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:168.41, Y:119.40, Z:0.79 [[-5.33334895e-01 -8.45900919e-01 2.35064550e-03 1.68409167e+02] [ 8.45893337e-01 -5.33340069e-01 -3.58239672e-03 1.19399379e+02] [ 4.28404611e-03 7.77781846e-05 9.99990820e-01 7.86883470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85862385300004 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:168.43, Y:119.36, Z:0.79 [[-5.33880360e-01 -8.45556757e-01 2.35204358e-03 1.68430785e+02] [ 8.45549175e-01 -5.33885536e-01 -3.58147857e-03 1.19363080e+02] [ 4.28406545e-03 7.66874374e-05 9.99990820e-01 7.88212099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.888623853 meters Centerline goodness : 0.988428 Centerline is valid? [True, True] Translation: X:168.42, Y:119.37, Z:0.79 [[-5.33589253e-01 -8.45740487e-01 2.35341164e-03 1.68424811e+02] [ 8.45732911e-01 -5.33594437e-01 -3.58057939e-03 1.19369730e+02] [ 4.28400831e-03 7.97989992e-05 9.99990820e-01 7.87822224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91862385300004 meters Centerline goodness : 0.986730 Centerline is valid? [True, True] Translation: X:168.42, Y:119.37, Z:0.79 [[-5.34364638e-01 -8.45250784e-01 2.35476545e-03 1.68421409e+02] [ 8.45243208e-01 -5.34369821e-01 -3.57968883e-03 1.19372028e+02] [ 4.28405038e-03 7.74903721e-05 9.99990820e-01 7.86261002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.948623853 meters Centerline goodness : 0.984097 Centerline is valid? [True, True] Translation: X:168.42, Y:119.37, Z:0.79 [[-5.34884109e-01 -8.44922149e-01 2.35612740e-03 1.68423253e+02] [ 8.44914573e-01 -5.34889293e-01 -3.57879218e-03 1.19367814e+02] [ 4.28406810e-03 7.64873106e-05 9.99990820e-01 7.88508343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97862385300004 meters Centerline goodness : 0.981988 Centerline is valid? [True, True] Translation: X:168.43, Y:119.36, Z:0.79 [[-5.35331773e-01 -8.44638583e-01 2.35749149e-03 1.68428267e+02] [ 8.44631008e-01 -5.35336958e-01 -3.57789337e-03 1.19359598e+02] [ 4.28407911e-03 7.58504131e-05 9.99990820e-01 7.88320188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.008623853 meters Centerline goodness : 0.976826 Centerline is valid? [True, True] Translation: X:168.42, Y:119.37, Z:0.79 [[-5.36695590e-01 -8.43772647e-01 2.35885029e-03 1.68415763e+02] [ 8.43765067e-01 -5.36700770e-01 -3.57699731e-03 1.19374232e+02] [ 4.28416926e-03 7.05567936e-05 9.99990820e-01 7.87872684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03862385300005 meters Centerline goodness : 0.974825 Centerline is valid? [True, True] Translation: X:168.42, Y:119.36, Z:0.79 [[-5.37219981e-01 -8.43438867e-01 2.36021619e-03 1.68420926e+02] [ 8.43431288e-01 -5.37225161e-01 -3.57609583e-03 1.19364542e+02] [ 4.28418573e-03 6.95300476e-05 9.99990820e-01 7.88030830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.068623853 meters Centerline goodness : 0.971334 Centerline is valid? [True, True] Translation: X:168.42, Y:119.36, Z:0.79 [[-5.37979732e-01 -8.42954466e-01 2.36158811e-03 1.68424139e+02] [ 8.42946887e-01 -5.37984911e-01 -3.57518960e-03 1.19356665e+02] [ 4.28422081e-03 6.73138017e-05 9.99990820e-01 7.87398110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09862385300005 meters Centerline goodness : 0.969128 Centerline is valid? [True, True] Translation: X:168.41, Y:119.37, Z:0.79 [[-5.38719860e-01 -8.42481649e-01 2.36295286e-03 1.68412542e+02] [ 8.42474069e-01 -5.38725038e-01 -3.57428737e-03 1.19372498e+02] [ 4.28425339e-03 6.51869161e-05 9.99990820e-01 7.88075012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.128623853 meters Centerline goodness : 0.974241 Centerline is valid? [True, True] Translation: X:168.37, Y:119.47, Z:0.78 [[-5.22143236e-01 -8.52854531e-01 2.36432522e-03 1.68366009e+02] [ 8.52847058e-01 -5.22148568e-01 -3.57337935e-03 1.19467196e+02] [ 4.28210179e-03 1.50591951e-04 9.99990820e-01 7.83954218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15862385300005 meters Centerline goodness : 0.973482 Centerline is valid? [True, True] Translation: X:168.36, Y:119.48, Z:0.78 [[-5.23334524e-01 -8.52124187e-01 2.31211474e-03 1.68356176e+02] [ 8.52116553e-01 -5.23339625e-01 -3.60794387e-03 1.19481964e+02] [ 4.28443750e-03 8.20296501e-05 9.99990818e-01 7.83362825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.188623853 meters Centerline goodness : 0.972620 Centerline is valid? [True, True] Translation: X:168.36, Y:119.48, Z:0.78 [[-5.23671535e-01 -8.51917103e-01 2.31795300e-03 1.68357715e+02] [ 8.51909484e-01 -5.23676658e-01 -3.60407583e-03 1.19477309e+02] [ 4.28423172e-03 8.73342194e-05 9.99990819e-01 7.83668965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.218623853 meters Centerline goodness : 0.969417 Centerline is valid? [True, True] Translation: X:168.36, Y:119.47, Z:0.78 [[-5.28168947e-01 -8.49136161e-01 2.31155827e-03 1.68361827e+02] [ 8.49128497e-01 -5.28174002e-01 -3.60831425e-03 1.19469995e+02] [ 4.28485509e-03 5.70104621e-05 9.99990818e-01 7.82365702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.248623853 meters Centerline goodness : 0.966589 Centerline is valid? [True, True] Translation: X:168.36, Y:119.48, Z:0.78 [[-5.31017069e-01 -8.47357947e-01 2.31972309e-03 1.68355068e+02] [ 8.47350289e-01 -5.31022133e-01 -3.60289929e-03 1.19479679e+02] [ 4.28476965e-03 5.24170120e-05 9.99990819e-01 7.82853037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.278623853 meters Centerline goodness : 0.964983 Centerline is valid? [True, True] Translation: X:168.34, Y:119.50, Z:0.78 [[-5.33447415e-01 -8.45830035e-01 2.32548645e-03 1.68341810e+02] [ 8.45822379e-01 -5.33452481e-01 -3.59907235e-03 1.19499030e+02] [ 4.28474001e-03 4.70326436e-05 9.99990819e-01 7.81897857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30862385300003 meters Centerline goodness : 0.961790 Centerline is valid? [True, True] Translation: X:168.34, Y:119.50, Z:0.78 [[-5.37601905e-01 -8.43195572e-01 2.32791530e-03 1.68339334e+02] [ 8.43187898e-01 -5.37606944e-01 -3.59745766e-03 1.19503571e+02] [ 4.28486380e-03 2.88699130e-05 9.99990820e-01 7.81074103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.338623853 meters Centerline goodness : 0.958772 Centerline is valid? [True, True] Translation: X:168.33, Y:119.52, Z:0.78 [[-5.38869742e-01 -8.42385877e-01 2.33131055e-03 1.68327272e+02] [ 8.42378206e-01 -5.38874784e-01 -3.59519810e-03 1.19520453e+02] [ 4.28482857e-03 2.65017284e-05 9.99990820e-01 7.82217725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36862385300003 meters Centerline goodness : 0.957388 Centerline is valid? [True, True] Translation: X:168.33, Y:119.51, Z:0.78 [[-5.41270049e-01 -8.40845600e-01 2.32618205e-03 1.68331261e+02] [ 8.40837900e-01 -5.41275047e-01 -3.59861331e-03 1.19514088e+02] [ 4.28498246e-03 8.12042868e-06 9.99990819e-01 7.81923448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.398623853 meters Centerline goodness : 0.954474 Centerline is valid? [True, True] Translation: X:168.32, Y:119.53, Z:0.78 [[-5.45214181e-01 -8.38293544e-01 2.33052602e-03 1.68322708e+02] [ 8.38285832e-01 -5.45219162e-01 -3.59571757e-03 1.19525722e+02] [ 4.28491427e-03 -6.78926663e-06 9.99990820e-01 7.81116515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42862385300003 meters Centerline goodness : 0.948865 Centerline is valid? [True, False] Translation: X:169.59, Y:117.06, Z:0.95 [[ 5.67702315e-01 7.65850314e-01 3.01972478e-01 1.69591726e+02] [-8.21065163e-01 5.00130990e-01 2.75174474e-01 1.17056675e+02] [ 5.97166626e-02 -4.04156268e-01 9.12738534e-01 9.52164756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.458623853 meters Centerline goodness : 0.942717 Centerline is valid? [False, False] Translation: X:169.50, Y:117.31, Z:0.93 [[ 5.70981949e-01 7.93414067e-01 2.10887961e-01 1.69498809e+02] [-8.18293945e-01 5.29332571e-01 2.24058137e-01 1.17305928e+02] [ 6.61410114e-02 -3.00501494e-01 9.51485270e-01 9.33423481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48862385300004 meters Centerline goodness : 0.937545 Centerline is valid? [False, False] Translation: X:169.38, Y:117.58, Z:0.92 [[ 5.72547852e-01 8.10461947e-01 1.23856327e-01 1.69383243e+02] [-8.16565771e-01 5.50143230e-01 1.74822105e-01 1.17575422e+02] [ 7.35479440e-02 -2.01230858e-01 9.76778809e-01 9.19047583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.518623853 meters Centerline goodness : 0.925488 Centerline is valid? [False, False] Translation: X:169.31, Y:117.77, Z:0.91 [[ 5.75842619e-01 8.15975578e-01 5.08835438e-02 1.69312286e+02] [-8.13768077e-01 5.66072371e-01 1.31695057e-01 1.17771222e+02] [ 7.86561815e-02 -1.17243030e-01 9.89983473e-01 9.08685407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54862385300004 meters Centerline goodness : 0.928487 Centerline is valid? [False, False] Translation: X:169.22, Y:117.98, Z:0.90 [[ 5.76270306e-01 8.17165894e-01 -1.23465276e-02 1.69217011e+02] [-8.12783168e-01 5.74627719e-01 9.58462633e-02 1.17981537e+02] [ 8.54169543e-02 -4.51983057e-02 9.95319575e-01 9.00686485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.578623853 meters Centerline goodness : 0.895860 Centerline is valid? [False, False] Translation: X:169.12, Y:118.19, Z:0.89 [[ 5.76990306e-01 8.14097376e-01 -6.57848623e-02 1.69115085e+02] [-8.11676283e-01 5.80507023e-01 6.47549764e-02 1.18192136e+02] [ 9.09054310e-02 1.60330188e-02 9.95730458e-01 8.91217731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60862385300004 meters Centerline goodness : 0.893607 Centerline is valid? [False, False] Translation: X:169.02, Y:118.38, Z:0.88 [[ 5.77710936e-01 8.09265258e-01 -1.06488578e-01 1.69020576e+02] [-8.10390456e-01 5.84260477e-01 4.36692503e-02 1.18377673e+02] [ 9.75570747e-02 6.10691241e-02 9.93354508e-01 8.84888944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.638623853 meters Centerline goodness : 0.885413 Centerline is valid? [False, False] Translation: X:168.95, Y:118.51, Z:0.88 [[ 5.76708671e-01 8.05754697e-01 -1.34783074e-01 1.68951462e+02] [-8.10144094e-01 5.85318622e-01 3.26903384e-02 1.18506879e+02] [ 1.05231437e-01 9.03409100e-02 9.90335733e-01 8.82331786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66862385300004 meters Centerline goodness : 0.890636 Centerline is valid? [False, False] Translation: X:168.93, Y:118.57, Z:0.88 [[ 5.74712505e-01 8.02850652e-01 -1.58544531e-01 1.68927951e+02] [-8.11000194e-01 5.84672619e-01 2.08953317e-02 1.18565383e+02] [ 1.09472477e-01 1.16570837e-01 9.87130699e-01 8.82797926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.698623853 meters Centerline goodness : 0.885727 Centerline is valid? [False, False] Translation: X:168.83, Y:118.72, Z:0.88 [[ 5.72955401e-01 7.99111617e-01 -1.82051457e-01 1.68832781e+02] [-8.11169497e-01 5.84657211e-01 1.34161246e-02 1.18723462e+02] [ 1.17158678e-01 1.39987748e-01 9.83197475e-01 8.75660438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72862385300004 meters Centerline goodness : 0.879660 Centerline is valid? [False, False] Translation: X:168.78, Y:118.82, Z:0.87 [[ 5.71133969e-01 7.95417960e-01 -2.02771444e-01 1.68779414e+02] [-8.11464438e-01 5.84363412e-01 6.69841582e-03 1.18821183e+02] [ 1.23820253e-01 1.60716123e-01 9.79203183e-01 8.73574932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.758623853 meters Centerline goodness : 0.877053 Centerline is valid? [False, False] Translation: X:168.72, Y:118.93, Z:0.87 [[ 5.69514785e-01 7.91614227e-01 -2.21359040e-01 1.68718219e+02] [-8.11686064e-01 5.84093732e-01 4.95547121e-04 1.18932453e+02] [ 1.29686710e-01 1.79391826e-01 9.75192253e-01 8.70321272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78862385300005 meters Centerline goodness : 0.872247 Centerline is valid? [False, False] Translation: X:168.66, Y:119.04, Z:0.87 [[ 5.67730157e-01 7.87782049e-01 -2.38918212e-01 1.68658183e+02] [-8.12027925e-01 5.83594469e-01 -5.30514040e-03 1.19038328e+02] [ 1.35252052e-01 1.97020148e-01 9.71025202e-01 8.65930616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.818623853 meters Centerline goodness : 0.899718 Centerline is valid? [False, False] Translation: X:168.61, Y:119.12, Z:0.86 [[ 5.66441813e-01 7.84443723e-01 -2.52570223e-01 1.68609920e+02] [-8.12106376e-01 5.83435962e-01 -9.25813921e-03 1.19124677e+02] [ 1.40096062e-01 2.10358086e-01 9.67534273e-01 8.62765452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84862385300005 meters Centerline goodness : 0.870251 Centerline is valid? [False, False] Translation: X:168.57, Y:119.19, Z:0.86 [[ 5.61734232e-01 7.83879734e-01 -2.64550969e-01 1.68571952e+02] [-8.14574490e-01 5.79950849e-01 -1.11988205e-02 1.19193280e+02] [ 1.44648030e-01 2.21787231e-01 9.64306679e-01 8.60845519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.878623853 meters Centerline goodness : 0.871370 Centerline is valid? [False, False] Translation: X:168.49, Y:119.32, Z:0.85 [[ 5.61824277e-01 7.82261538e-01 -2.69110327e-01 1.68487000e+02] [-8.13702429e-01 5.81207314e-01 -9.29600624e-03 1.19324356e+02] [ 1.49136982e-01 2.24198448e-01 9.63064492e-01 8.47752199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90862385300005 meters Centerline goodness : 0.866963 Centerline is valid? [False, False] Translation: X:168.41, Y:119.45, Z:0.84 [[ 5.62136786e-01 7.78420306e-01 -2.79399466e-01 1.68413844e+02] [-8.12728782e-01 5.82513256e-01 -1.22569975e-02 1.19446232e+02] [ 1.53212797e-01 2.33966097e-01 9.60096716e-01 8.36410681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.938623853 meters Centerline goodness : 0.868078 Centerline is valid? [False, False] Translation: X:168.35, Y:119.56, Z:0.83 [[ 5.62135242e-01 7.74319564e-01 -2.90573885e-01 1.68348265e+02] [-8.11850748e-01 5.83666332e-01 -1.52307448e-02 1.19560802e+02] [ 1.57804730e-01 2.44464364e-01 9.56731332e-01 8.26166532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.968623853 meters Centerline goodness : 0.867091 Centerline is valid? [False, False] Translation: X:168.28, Y:119.67, Z:0.82 [[ 5.62746619e-01 7.71064335e-01 -2.97953073e-01 1.68282563e+02] [-8.10525946e-01 5.85493173e-01 -1.56663318e-02 1.19666481e+02] [ 1.62369740e-01 2.50314871e-01 9.54451954e-01 8.15753672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.998623853 meters Centerline goodness : 0.857004 Centerline is valid? [False, False] Translation: X:168.22, Y:119.76, Z:0.80 [[ 5.63106706e-01 7.68592891e-01 -3.03604685e-01 1.68224941e+02] [-8.09740068e-01 5.86542796e-01 -1.69873495e-02 1.19757912e+02] [ 1.65020785e-01 2.55406569e-01 9.52646642e-01 8.04417176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.028623853 meters Centerline goodness : 0.854386 Centerline is valid? [False, False] Translation: X:168.17, Y:119.84, Z:0.79 [[ 5.62748912e-01 7.66408283e-01 -3.09728924e-01 1.68169524e+02] [-8.09359198e-01 5.87040196e-01 -1.79303209e-02 1.19843897e+02] [ 1.68081382e-01 2.60772222e-01 9.50655825e-01 7.94326615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05862385300003 meters Centerline goodness : 0.847893 Centerline is valid? [False, False] Translation: X:168.13, Y:119.91, Z:0.79 [[ 5.63422183e-01 7.64733460e-01 -3.12631059e-01 1.68127245e+02] [-8.08336430e-01 5.88465973e-01 -1.73209174e-02 1.19911514e+02] [ 1.70726855e-01 2.62470063e-01 9.49716698e-01 7.88089077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.088623853 meters Centerline goodness : 0.867026 Centerline is valid? [False, False] Translation: X:168.06, Y:120.01, Z:0.77 [[ 5.64566690e-01 7.61902118e-01 -3.17442303e-01 1.68061918e+02] [-8.06732594e-01 5.90669797e-01 -1.70795795e-02 1.20011449e+02] [ 1.74490613e-01 2.65733614e-01 9.48123764e-01 7.74480616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11862385300003 meters Centerline goodness : 0.862515 Centerline is valid? [False, False] Translation: X:168.01, Y:120.09, Z:0.77 [[ 5.65418177e-01 7.59391293e-01 -3.21911711e-01 1.68011966e+02] [-8.05144023e-01 5.92874330e-01 -1.55926643e-02 1.20085947e+02] [ 1.79012256e-01 2.68001666e-01 9.46641283e-01 7.67122628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.148623853 meters Centerline goodness : 0.821948 Centerline is valid? [False, False] Translation: X:167.97, Y:120.16, Z:0.76 [[ 5.67422332e-01 7.55931601e-01 -3.26495500e-01 1.67966870e+02] [-8.02785483e-01 5.96077126e-01 -1.50840519e-02 1.20155242e+02] [ 1.83213988e-01 2.70664876e-01 9.45078388e-01 7.60564515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17862385300003 meters Centerline goodness : 0.880841 Centerline is valid? [False, False] Translation: X:167.93, Y:120.22, Z:0.75 [[ 5.69728445e-01 7.52593600e-01 -3.30170217e-01 1.67927332e+02] [-8.00628507e-01 5.98939213e-01 -1.63037590e-02 1.20218503e+02] [ 1.85481785e-01 2.73632403e-01 9.43780597e-01 7.50781880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.208623853 meters Centerline goodness : 0.839788 Centerline is valid? [False, False] Translation: X:167.89, Y:120.27, Z:0.74 [[ 5.72114129e-01 7.49253480e-01 -3.33623509e-01 1.67894792e+02] [-7.98475667e-01 6.01763214e-01 -1.78225698e-02 1.20272045e+02] [ 1.87408733e-01 2.76586798e-01 9.42537909e-01 7.40846547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6728.04 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%| | 0/10303 [00:00